Prepare for googlecartographer/cartographer#605. (#551)

2017-10-19 16:58:07 +02:00 · 2017-10-19 16:58:07 +02:00 · 5d784e8adb
parent adbaeb4fe6
commit 5d784e8adb
1 changed files with 3 additions and 0 deletions
--- a/cartographer_ros/cartographer_ros/map_builder_bridge.cc
+++ b/cartographer_ros/cartographer_ros/map_builder_bridge.cc
@ -171,6 +171,9 @@ MapBuilderBridge::GetTrajectoryStates() {

    const cartographer::mapping::TrajectoryBuilder* const trajectory_builder =
        map_builder_.GetTrajectoryBuilder(trajectory_id);
+    if (trajectory_builder == nullptr) {
+      continue;
+    }
    const cartographer::mapping::TrajectoryBuilder::PoseEstimate pose_estimate =
        trajectory_builder->pose_estimate();
    if (cartographer::common::ToUniversal(pose_estimate.time) < 0) {