From 45d18d53eb4f6b567404a2ca2e9fb94b1d36a884 Mon Sep 17 00:00:00 2001 From: Damon Kohler Date: Mon, 19 Sep 2016 10:44:29 +0200 Subject: [PATCH] Fixes #63 (#64) --- cartographer_ros/src/cartographer_node_main.cc | 8 +++++--- 1 file changed, 5 insertions(+), 3 deletions(-) diff --git a/cartographer_ros/src/cartographer_node_main.cc b/cartographer_ros/src/cartographer_node_main.cc index ff6ba1d..533ab79 100644 --- a/cartographer_ros/src/cartographer_node_main.cc +++ b/cartographer_ros/src/cartographer_node_main.cc @@ -250,7 +250,6 @@ class Node { tf2_ros::TransformBroadcaster tf_broadcaster_; ::ros::Publisher occupancy_grid_publisher_; - carto::mapping_2d::proto::SubmapsOptions submaps_options_; std::thread occupancy_grid_thread_; bool terminating_ = false GUARDED_BY(mutex_); @@ -611,12 +610,15 @@ void Node::SpinOccupancyGridThreadForever() { std::this_thread::sleep_for(carto::common::FromMilliseconds(1000)); continue; } + const auto& submaps_options = + options_.map_builder_options.trajectory_builder_2d_options() + .submaps_options(); const carto::mapping_2d::MapLimits map_limits = carto::mapping_2d::MapLimits::ComputeMapLimits( - submaps_options_.resolution(), trajectory_nodes); + submaps_options.resolution(), trajectory_nodes); carto::mapping_2d::ProbabilityGrid probability_grid(map_limits); carto::mapping_2d::LaserFanInserter laser_fan_inserter( - submaps_options_.laser_fan_inserter_options()); + submaps_options.laser_fan_inserter_options()); for (const auto& node : trajectory_nodes) { CHECK(node.constant_data->laser_fan_3d.returns.empty()); // No 3D yet. laser_fan_inserter.Insert(