Module: mola-launcher

Application: mola-cli

mola-cli is the most-common entry point to the MOLA system for users. Refer to demos for real examples to launch and run SLAM systems.

SYNOPSIS

USAGE:

   mola-cli [OPTIONS] [config...]


POSITIONALS:

   config TEXT ...
     Input YAML config file(s) (*.yaml). If more than one file is given,
     all of them are loaded and their `modules` sections are merged
     together into a single running system.

OPTIONS:

   -h,  --help
     Print this help message and exit.

   -v,  --verbosity TEXT
     Verbosity level: ERROR|WARN|INFO|DEBUG (Default: INFO)

   -p,  --profiler
     Enable time profiler by default in all modules (Default: NO)

   --profiler-whole
     Enable whole-history time profiler in all modules (Default: NO). **DO
     NOT** use in production, only to benchmark short runs (unbounded
     memory usage)

   --rtti-list-all
     Loads all MOLA modules, then list all classes registered via
     mrpt::rtti, and exits.

   --rtti-children-of TEXT
     Loads all MOLA modules, then list all known classes that inherit from
     the given one, and exits.

   --list-modules
     Loads all MOLA modules, then list them. It also shows the list of
     paths in which the program looks for module dynamic libraries, then
     exits.

   --list-module-shared-dirs
     Finds all MOLA module source/shared directories, then list them. Paths
     can be added with the environment variable MOLA_MODULES_SHARED_PATH.

Notes:

  • Finer-control of the verbosity for individual modules is possible by using the verbosity variable in the YAML launch file, see: SLAM system YAML configuration file format.

  • Each YAML file keeps the same self-contained structure described in SLAM system YAML configuration file format (a top-level modules entry). When several files are given, mola-cli processes them in the order given on the command line, instantiating the modules of each one into the same running system. Module names must be unique across all the given files.

Example: Launching a SLAM system with performance details at end:

mola-cli kitti_lidar_slam.yml -p

Example: Launching a SLAM system whose sensors, pipeline, and visualization are defined in separate, reusable files:

mola-cli sensors.yaml pipeline.yaml visualization.yaml

Example: To list all known ICP algorithms:

mola-cli --rtti-children-of mp2p_icp::ICP_Base

Listing children of class: mp2p_icp::ICP_Base
mp2p_icp::ICP_GaussNewton
mp2p_icp::ICP_Horn_MultiCloud
mp2p_icp::ICP_OLAE

Application: mola-dir

mola-dir is a CLI program that finds the shared directory (see Module shared files paths) of a module. It is most-commonly useful inside evaluation expression of MOLA definition files (SLAM system YAML configuration file format).

SYNOPSIS

USAGE:

   mola-dir  <module_name>

Note: To list all known shared directories of modules, use:

mola-cli --list-module-shared-dirs

Application: mola-yaml-parser

mola-yaml-parser is a CLI program that parses YAML files using MOLA-specific extensions (see YAML pre-processing), and outputs the result to cout.

SYNOPSIS

USAGE:

   mola-yaml-parser [OPTIONS] YAML_file


POSITIONALS:

   YAML_file TEXT REQUIRED
     Input YAML file (required) (*.yml)

OPTIONS:

   -h,  --help
     Print this help message and exit.

   --no-includes
     Disables solving YAML `$include{}`s (Default: NO)

   --no-cmd-runs
     Disables solving YAML `$(cmd)`s (Default: NO)

   --no-env-vars
     Disables solving YAML `${xxx}`s (Default: NO)

Example:

mola-yaml-parser --no-env-vars demos/kitti_lidar_slam.yml

C++ library: mola-launcher

See mola_launcher_grp.