From 2fe1867221dbd65930617279521968b60cc8745c Mon Sep 17 00:00:00 2001
From: Alexander Belyaev <32522095+pifon2a@users.noreply.github.com>
Date: Fri, 9 Mar 2018 16:26:03 +0100
Subject: [PATCH] Fix writing the pbstream via gRPC. (#973)

---
 cartographer/cloud/client/map_builder_stub.cc               | 2 --
 cartographer/cloud/internal/handlers/write_state_handler.cc | 1 +
 2 files changed, 1 insertion(+), 2 deletions(-)

diff --git a/cartographer/cloud/client/map_builder_stub.cc b/cartographer/cloud/client/map_builder_stub.cc
index 35cd1e5..f26922c 100644
--- a/cartographer/cloud/client/map_builder_stub.cc
+++ b/cartographer/cloud/client/map_builder_stub.cc
@@ -100,7 +100,6 @@ void MapBuilderStub::SerializeState(io::ProtoStreamWriterInterface* writer) {
   CHECK(client.Write(request));
   proto::WriteStateResponse response;
   while (client.Read(&response)) {
-    // writer->WriteProto(response);
     switch (response.state_chunk_case()) {
       case proto::WriteStateResponse::kPoseGraph:
         writer->WriteProto(response.pose_graph());
@@ -115,7 +114,6 @@ void MapBuilderStub::SerializeState(io::ProtoStreamWriterInterface* writer) {
         LOG(FATAL) << "Unhandled message type";
     }
   }
-  CHECK(writer->Close());
 }
 
 void MapBuilderStub::LoadState(io::ProtoStreamReaderInterface* reader,
diff --git a/cartographer/cloud/internal/handlers/write_state_handler.cc b/cartographer/cloud/internal/handlers/write_state_handler.cc
index 0f7cb1f..88a2adc 100644
--- a/cartographer/cloud/internal/handlers/write_state_handler.cc
+++ b/cartographer/cloud/internal/handlers/write_state_handler.cc
@@ -52,6 +52,7 @@ void WriteStateHandler::OnRequest(const google::protobuf::Empty& request) {
       });
   GetContext<MapBuilderContextInterface>()->map_builder().SerializeState(
       &proto_stream_writer);
+  proto_stream_writer.Close();
 }
 
 }  // namespace handlers