cartographer的node.cc（订阅话题与注册回调函数）

for (const std::string& topic :
       ComputeRepeatedTopicNames(kLaserScanTopic, options.num_laser_scans)) {
    subscribers_[trajectory_id].push_back(
        {SubscribeWithHandler<sensor_msgs::LaserScan>(
             &Node::HandleLaserScanMessage, trajectory_id, topic, &node_handle_,
             this),
         topic});
  }

有多个单线雷达的topic调用一个回调函数。

subscribers_[trajectory_id].push_back(
        {SubscribeWithHandler<sensor_msgs::LaserScan>(
             &Node::HandleLaserScanMessage, trajectory_id, topic, &node_handle_,
             this),
         topic})

 subscribers_（unordered_map）中int值为trajectory_id，

SubscribeWithHandler<sensor_msgs::LaserScan>  (&Node::HandleLaserScanMessage, trajectory_id, topic, &node_handle_,this),
 topic

是插入的两个参数。

// multi_echo_laser_scans的订阅与注册回调函数
  for (const std::string& topic : ComputeRepeatedTopicNames(
           kMultiEchoLaserScanTopic, options.num_multi_echo_laser_scans)) {
    subscribers_[trajectory_id].push_back(
        {SubscribeWithHandler<sensor_msgs::MultiEchoLaserScan>(
             &Node::HandleMultiEchoLaserScanMessage, trajectory_id, topic,
             &node_handle_, this),
         topic});
  }
  
  // point_clouds 的订阅与注册回调函数
  for (const std::string& topic :
       ComputeRepeatedTopicNames(kPointCloud2Topic, options.num_point_clouds)) {
    subscribers_[trajectory_id].push_back(
        {SubscribeWithHandler<sensor_msgs::PointCloud2>(
             &Node::HandlePointCloud2Message, trajectory_id, topic,
             &node_handle_, this),
         topic});
  }

  // For 2D SLAM, subscribe to the IMU if we expect it. For 3D SLAM, the IMU is
  // required.
  // imu 的订阅与注册回调函数,只有一个imu的topic
  if (node_options_.map_builder_options.use_trajectory_builder_3d() ||
      (node_options_.map_builder_options.use_trajectory_builder_2d() &&
       options.trajectory_builder_options.trajectory_builder_2d_options()
           .use_imu_data())) {
    subscribers_[trajectory_id].push_back(
        {SubscribeWithHandler<sensor_msgs::Imu>(&Node::HandleImuMessage,
                                                trajectory_id, kImuTopic,
                                                &node_handle_, this),
         kImuTopic});
  }

  // odometry 的订阅与注册回调函数,只有一个odometry的topic
  if (options.use_odometry) {
    subscribers_[trajectory_id].push_back(
        {SubscribeWithHandler<nav_msgs::Odometry>(&Node::HandleOdometryMessage,
                                                  trajectory_id, kOdometryTopic,
                                                  &node_handle_, this),
         kOdometryTopic});
  }

  // gps 的订阅与注册回调函数,只有一个gps的topic
  if (options.use_nav_sat) {
    subscribers_[trajectory_id].push_back(
        {SubscribeWithHandler<sensor_msgs::NavSatFix>(
             &Node::HandleNavSatFixMessage, trajectory_id, kNavSatFixTopic,
             &node_handle_, this),
         kNavSatFixTopic});
  }

  // landmarks 的订阅与注册回调函数,只有一个landmarks的topic
  if (options.use_landmarks) {
    subscribers_[trajectory_id].push_back(
        {SubscribeWithHandler<cartographer_ros_msgs::LandmarkList>(
             &Node::HandleLandmarkMessage, 
             trajectory_id, 
             kLandmarkTopic,
             &node_handle_, 
             this),
         kLandmarkTopic});
  }
}

 都是同理的

// 检查TrajectoryOptions是否存在2d或者3d轨迹的配置信息
bool Node::ValidateTrajectoryOptions(const TrajectoryOptions& options) {
  if (node_options_.map_builder_options.use_trajectory_builder_2d()) {
    return options.trajectory_builder_options
        .has_trajectory_builder_2d_options();
  }
  if (node_options_.map_builder_options.use_trajectory_builder_3d()) {
    return options.trajectory_builder_options
        .has_trajectory_builder_3d_options();
  }
  return false;
}

// 检查topic名字是否被其他轨迹使用
bool Node::ValidateTopicNames(const TrajectoryOptions& options) {
  for (const auto& sensor_id : ComputeExpectedSensorIds(options)) {
    const std::string& topic = sensor_id.id;
    // 如果topic能够在subscribed_topics_中找到, 证明这个topic名字被之前的轨迹使用了
    if (subscribed_topics_.count(topic) > 0) {
      LOG(ERROR) << "Topic name [" << topic << "] is already used.";
      return false;
    }
  }