From 319b60af4c5e4496b2f677c62e525e53e28ecd41 Mon Sep 17 00:00:00 2001
From: Alexander Belyaev <32522095+pifon2a@users.noreply.github.com>
Date: Fri, 2 Mar 2018 23:09:24 +0100
Subject: [PATCH] Follow
 https://github.com/googlecartographer/cartographer/pull/955. (#751)

---
 .../cartographer_ros/cartographer_grpc/node_grpc_main.cc | 9 ++++-----
 .../cartographer_grpc/offline_node_grpc_main.cc          | 2 +-
 2 files changed, 5 insertions(+), 6 deletions(-)

diff --git a/cartographer_ros/cartographer_ros/cartographer_grpc/node_grpc_main.cc b/cartographer_ros/cartographer_ros/cartographer_grpc/node_grpc_main.cc
index 210e314..42b05e8 100644
--- a/cartographer_ros/cartographer_ros/cartographer_grpc/node_grpc_main.cc
+++ b/cartographer_ros/cartographer_ros/cartographer_grpc/node_grpc_main.cc
@@ -42,7 +42,6 @@ DEFINE_string(load_state_filename, "",
               "to load, containing a saved SLAM state.");
 
 namespace cartographer_ros {
-namespace cartographer_grpc {
 namespace {
 
 void Run() {
@@ -54,8 +53,9 @@ void Run() {
   std::tie(node_options, trajectory_options) =
       LoadOptions(FLAGS_configuration_directory, FLAGS_configuration_basename);
 
-  auto map_builder = cartographer::common::make_unique<
-      ::cartographer_grpc::mapping::MapBuilderStub>(FLAGS_server_address);
+  auto map_builder =
+      cartographer::common::make_unique<::cartographer::cloud::MapBuilderStub>(
+          FLAGS_server_address);
   Node node(node_options, std::move(map_builder), &tf_buffer);
 
   if (!FLAGS_load_state_filename.empty()) {
@@ -77,7 +77,6 @@ void Run() {
 }
 
 }  // namespace
-}  // namespace cartographer_grpc
 }  // namespace cartographer_ros
 
 int main(int argc, char** argv) {
@@ -93,6 +92,6 @@ int main(int argc, char** argv) {
   ::ros::start();
 
   cartographer_ros::ScopedRosLogSink ros_log_sink;
-  cartographer_ros::cartographer_grpc::Run();
+  cartographer_ros::Run();
   ::ros::shutdown();
 }
diff --git a/cartographer_ros/cartographer_ros/cartographer_grpc/offline_node_grpc_main.cc b/cartographer_ros/cartographer_ros/cartographer_grpc/offline_node_grpc_main.cc
index b474bc1..25c2166 100644
--- a/cartographer_ros/cartographer_ros/cartographer_grpc/offline_node_grpc_main.cc
+++ b/cartographer_ros/cartographer_ros/cartographer_grpc/offline_node_grpc_main.cc
@@ -36,7 +36,7 @@ int main(int argc, char** argv) {
   const cartographer_ros::MapBuilderFactory map_builder_factory =
       [](const ::cartographer::mapping::proto::MapBuilderOptions&) {
         return ::cartographer::common::make_unique<
-            ::cartographer_grpc::mapping::MapBuilderStub>(FLAGS_server_address);
+            ::cartographer::cloud::MapBuilderStub>(FLAGS_server_address);
       };
 
   cartographer_ros::RunOfflineNode(map_builder_factory);