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

master
Wolfgang Hess 2017-10-19 16:58:07 +02:00 committed by GitHub
parent adbaeb4fe6
commit 5d784e8adb
1 changed files with 3 additions and 0 deletions
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cartographer_ros/cartographer_ros/map_builder_bridge.cc
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@ -171,6 +171,9 @@ MapBuilderBridge::GetTrajectoryStates() {
const cartographer::mapping::TrajectoryBuilder* const trajectory_builder = const cartographer::mapping::TrajectoryBuilder* const trajectory_builder =
map_builder_.GetTrajectoryBuilder(trajectory_id); map_builder_.GetTrajectoryBuilder(trajectory_id);
if (trajectory_builder == nullptr) {
continue;
}
const cartographer::mapping::TrajectoryBuilder::PoseEstimate pose_estimate = const cartographer::mapping::TrajectoryBuilder::PoseEstimate pose_estimate =
trajectory_builder->pose_estimate(); trajectory_builder->pose_estimate();
if (cartographer::common::ToUniversal(pose_estimate.time) < 0) { if (cartographer::common::ToUniversal(pose_estimate.time) < 0) {