From 4ecf04b49fbcaee96086c8b409e9365b07593e55 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Christoph=20Sch=C3=BCtte?= <cschuet@google.com>
Date: Fri, 25 May 2018 14:53:39 +0200
Subject: [PATCH] Follow googlecartographer/cartographer#1164 (#877)

---
 cartographer_ros/cartographer_ros/node_main.cc         | 3 +--
 cartographer_ros/cartographer_ros/offline_node_main.cc | 3 +--
 2 files changed, 2 insertions(+), 4 deletions(-)

diff --git a/cartographer_ros/cartographer_ros/node_main.cc b/cartographer_ros/cartographer_ros/node_main.cc
index 75b195a..b41972c 100644
--- a/cartographer_ros/cartographer_ros/node_main.cc
+++ b/cartographer_ros/cartographer_ros/node_main.cc
@@ -54,8 +54,7 @@ void Run() {
 
   auto map_builder =
       cartographer::common::make_unique<cartographer::mapping::MapBuilder>(
-          node_options.map_builder_options,
-          nullptr /* global_slam_result_callback*/);
+          node_options.map_builder_options);
   Node node(node_options, std::move(map_builder), &tf_buffer);
   if (!FLAGS_load_state_filename.empty()) {
     node.LoadState(FLAGS_load_state_filename, FLAGS_load_frozen_state);
diff --git a/cartographer_ros/cartographer_ros/offline_node_main.cc b/cartographer_ros/cartographer_ros/offline_node_main.cc
index 8290480..845954f 100644
--- a/cartographer_ros/cartographer_ros/offline_node_main.cc
+++ b/cartographer_ros/cartographer_ros/offline_node_main.cc
@@ -33,8 +33,7 @@ int main(int argc, char** argv) {
       [](const ::cartographer::mapping::proto::MapBuilderOptions&
              map_builder_options) {
         return ::cartographer::common::make_unique<
-            ::cartographer::mapping::MapBuilder>(
-            map_builder_options, nullptr /* global_slam_result_callback */);
+            ::cartographer::mapping::MapBuilder>(map_builder_options);
       };
 
   cartographer_ros::RunOfflineNode(map_builder_factory);