From 383b988548cf87aa1774f73eb32f57ac54aab3e9 Mon Sep 17 00:00:00 2001
From: gaschler <gaschlera@gmail.com>
Date: Tue, 19 Dec 2017 15:49:56 +0100
Subject: [PATCH] TrajectoryBuilderStub sends WritesDone (#774)

This is required to close the connection, otherwise the server
cannot shutdown.
---
 cartographer_grpc/mapping/trajectory_builder_stub.cc | 4 ++++
 1 file changed, 4 insertions(+)

diff --git a/cartographer_grpc/mapping/trajectory_builder_stub.cc b/cartographer_grpc/mapping/trajectory_builder_stub.cc
index 266b367..67f10a4 100644
--- a/cartographer_grpc/mapping/trajectory_builder_stub.cc
+++ b/cartographer_grpc/mapping/trajectory_builder_stub.cc
@@ -31,15 +31,19 @@ TrajectoryBuilderStub::TrajectoryBuilderStub(
 
 TrajectoryBuilderStub::~TrajectoryBuilderStub() {
   if (rangefinder_writer_.client_writer) {
+    CHECK(rangefinder_writer_.client_writer->WritesDone());
     CHECK(rangefinder_writer_.client_writer->Finish().ok());
   }
   if (imu_writer_.client_writer) {
+    CHECK(imu_writer_.client_writer->WritesDone());
     CHECK(imu_writer_.client_writer->Finish().ok());
   }
   if (odometry_writer_.client_writer) {
+    CHECK(odometry_writer_.client_writer->WritesDone());
     CHECK(odometry_writer_.client_writer->Finish().ok());
   }
   if (fixed_frame_writer_.client_writer) {
+    CHECK(fixed_frame_writer_.client_writer->WritesDone());
     CHECK(fixed_frame_writer_.client_writer->Finish().ok());
   }
 }