From 4cd1528ffb65ab6b144f63085d6cdc233a54d9fd Mon Sep 17 00:00:00 2001
From: Michael Grupp <grupp@magazino.eu>
Date: Thu, 2 Aug 2018 19:35:19 +0200
Subject: [PATCH] Replace CHECK() by a warning in
 MapBuilderStub::SerializeState() (#1364)

See discussion in https://github.com/googlecartographer/cartographer_ros/pull/966
---
 cartographer/cloud/client/map_builder_stub.cc | 6 ++++--
 1 file changed, 4 insertions(+), 2 deletions(-)

diff --git a/cartographer/cloud/client/map_builder_stub.cc b/cartographer/cloud/client/map_builder_stub.cc
index 038bfb2..0fdcfb8 100644
--- a/cartographer/cloud/client/map_builder_stub.cc
+++ b/cartographer/cloud/client/map_builder_stub.cc
@@ -125,8 +125,10 @@ std::string MapBuilderStub::SubmapToProto(
 
 void MapBuilderStub::SerializeState(bool include_unfinished_submaps,
                                     io::ProtoStreamWriterInterface* writer) {
-  CHECK(!include_unfinished_submaps)
-      << "Writing of unfinished submaps is unsupported.";
+  if (!include_unfinished_submaps) {
+    LOG(WARNING) << "Serializing unfinished submaps is currently unsupported. "
+                    "Proceeding to write the state without them.";
+  }
   google::protobuf::Empty request;
   async_grpc::Client<handlers::WriteStateSignature> client(client_channel_);
   CHECK(client.Write(request));