From a48f12dfa3eb6ea53a3fed637df555ed7c151f8f Mon Sep 17 00:00:00 2001
From: Wolfgang Hess <whess@lyft.com>
Date: Tue, 26 Jan 2021 18:26:46 +0100
Subject: [PATCH] Remove CHECK preventing the use of the IMU-based
 extrapolator. (#1804)

Fixes #1803.

Signed-off-by: Wolfgang Hess <whess@lyft.com>
---
 cartographer/mapping/pose_extrapolator_interface.cc | 2 --
 1 file changed, 2 deletions(-)

diff --git a/cartographer/mapping/pose_extrapolator_interface.cc b/cartographer/mapping/pose_extrapolator_interface.cc
index b0b504f..8030114 100644
--- a/cartographer/mapping/pose_extrapolator_interface.cc
+++ b/cartographer/mapping/pose_extrapolator_interface.cc
@@ -84,8 +84,6 @@ PoseExtrapolatorInterface::CreateWithImuData(
     const std::vector<sensor::ImuData>& imu_data,
     const std::vector<transform::TimestampedTransform>& initial_poses) {
   CHECK(!imu_data.empty());
-  // TODO(schwoere): Implement/integrate imu based extrapolator.
-  CHECK(!options.use_imu_based()) << "Not implemented!";
   if (options.use_imu_based()) {
     return ImuBasedPoseExtrapolator::InitializeWithImu(options.imu_based(),
                                                        imu_data, initial_poses);