12345qiupeng
/
cartographer_ros
1
0
Fork 0
Code Issues Pull Requests Packages Projects Releases Wiki Activity

Follow googlecartographer/cartographer#1164 (#877)

master
Christoph Schütte 2018-05-25 14:53:39 +02:00 committed by Wally B. Feed
parent 37b2d40bb7
commit 4ecf04b49f
2 changed files with 2 additions and 4 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

3
cartographer_ros/cartographer_ros/node_main.cc
View File

@ -54,8 +54,7 @@ void Run() {
auto map_builder = auto map_builder =
cartographer::common::make_unique<cartographer::mapping::MapBuilder>( cartographer::common::make_unique<cartographer::mapping::MapBuilder>(
node_options.map_builder_options, node_options.map_builder_options);
nullptr /* global_slam_result_callback*/);
Node node(node_options, std::move(map_builder), &tf_buffer); Node node(node_options, std::move(map_builder), &tf_buffer);
if (!FLAGS_load_state_filename.empty()) { if (!FLAGS_load_state_filename.empty()) {
node.LoadState(FLAGS_load_state_filename, FLAGS_load_frozen_state); node.LoadState(FLAGS_load_state_filename, FLAGS_load_frozen_state);

3
cartographer_ros/cartographer_ros/offline_node_main.cc
View File

@ -33,8 +33,7 @@ int main(int argc, char** argv) {
[](const ::cartographer::mapping::proto::MapBuilderOptions& [](const ::cartographer::mapping::proto::MapBuilderOptions&
map_builder_options) { map_builder_options) {
return ::cartographer::common::make_unique< return ::cartographer::common::make_unique<
::cartographer::mapping::MapBuilder>( ::cartographer::mapping::MapBuilder>(map_builder_options);
map_builder_options, nullptr /* global_slam_result_callback */);
}; };
cartographer_ros::RunOfflineNode(map_builder_factory); cartographer_ros::RunOfflineNode(map_builder_factory);