From 5294050f517626f410cdcf6518017cfe4cd1a9f1 Mon Sep 17 00:00:00 2001
From: Holger Rapp <HolgerRapp@gmx.net>
Date: Mon, 8 May 2017 18:05:02 +0200
Subject: [PATCH] ConstantData is now owned by the SPG. (#326)

---
 cartographer_ros/cartographer_ros/map_builder_bridge.cc | 2 +-
 cartographer_ros/cartographer_ros/map_builder_bridge.h  | 2 --
 2 files changed, 1 insertion(+), 3 deletions(-)

diff --git a/cartographer_ros/cartographer_ros/map_builder_bridge.cc b/cartographer_ros/cartographer_ros/map_builder_bridge.cc
index f58cdfd..4447e4f 100644
--- a/cartographer_ros/cartographer_ros/map_builder_bridge.cc
+++ b/cartographer_ros/cartographer_ros/map_builder_bridge.cc
@@ -26,7 +26,7 @@ namespace cartographer_ros {
 MapBuilderBridge::MapBuilderBridge(const NodeOptions& options,
                                    tf2_ros::Buffer* const tf_buffer)
     : options_(options),
-      map_builder_(options.map_builder_options, &constant_data_),
+      map_builder_(options.map_builder_options),
       tf_buffer_(tf_buffer) {}
 
 int MapBuilderBridge::AddTrajectory(
diff --git a/cartographer_ros/cartographer_ros/map_builder_bridge.h b/cartographer_ros/cartographer_ros/map_builder_bridge.h
index 8b9bc3b..a11c91f 100644
--- a/cartographer_ros/cartographer_ros/map_builder_bridge.h
+++ b/cartographer_ros/cartographer_ros/map_builder_bridge.h
@@ -64,8 +64,6 @@ class MapBuilderBridge {
  private:
   const NodeOptions options_;
 
-  std::deque<cartographer::mapping::TrajectoryNode::ConstantData>
-      constant_data_;
   cartographer::mapping::MapBuilder map_builder_;
   tf2_ros::Buffer* const tf_buffer_;
   std::unordered_map<int, std::unique_ptr<SensorBridge>> sensor_bridges_;