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Enable rendering of submaps without a grid (#829) 

- related to https://github.com/googlecartographer/cartographer_ros/issues/819
master
Kevin Daun 2018-04-17 15:13:44 +02:00 committed by Wally B. Feed
parent 08cf9f072c
commit 1f55b18eb6
2 changed files with 3 additions and 4 deletions
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3
cartographer_ros/cartographer_ros/map_builder_bridge.cc
View File

@ -178,9 +178,6 @@ void MapBuilderBridge::HandleSubmapQuery(
return; return;
} }
CHECK(response_proto.textures_size() > 0)
<< "empty textures given for submap: " << submap_id;
response.submap_version = response_proto.submap_version(); response.submap_version = response_proto.submap_version();
for (const auto& texture_proto : response_proto.textures()) { for (const auto& texture_proto : response_proto.textures()) {
response.textures.emplace_back(); response.textures.emplace_back();

4
cartographer_ros/cartographer_ros/submap.cc
View File

@ -35,7 +35,9 @@ std::unique_ptr<::cartographer::io::SubmapTextures> FetchSubmapTextures(
srv.response.status.code != ::cartographer_ros_msgs::StatusCode::OK) { srv.response.status.code != ::cartographer_ros_msgs::StatusCode::OK) {
return nullptr; return nullptr;
} }
CHECK(!srv.response.textures.empty()); if (srv.response.textures.empty()) {
return nullptr;
}
auto response = auto response =
::cartographer::common::make_unique<::cartographer::io::SubmapTextures>(); ::cartographer::common::make_unique<::cartographer::io::SubmapTextures>();
response->version = srv.response.submap_version; response->version = srv.response.submap_version;