Follow cartographer-project/cartographer#1759. (#1525)

Signed-off-by: Wolfgang Hess <whess@lyft.com>
2020-10-13 15:50:12 +02:00 · 2020-10-13 15:50:12 +02:00 · 8064b8f9b7
parent 868d147fb5
commit 8064b8f9b7
1 changed files with 3 additions and 2 deletions
--- a/cartographer_ros/cartographer_ros/ros_map_writing_points_processor.cc
+++ b/cartographer_ros/cartographer_ros/ros_map_writing_points_processor.cc
@ -51,8 +51,9 @@ RosMapWritingPointsProcessor::FromDictionary(

 void RosMapWritingPointsProcessor::Process(
    std::unique_ptr<::cartographer::io::PointsBatch> batch) {
-  range_data_inserter_.Insert({batch->origin, batch->points, {}},
-                              &probability_grid_);
+  range_data_inserter_.Insert(
+      {batch->origin, ::cartographer::sensor::PointCloud(batch->points), {}},
+      &probability_grid_);
  next_->Process(std::move(batch));
 }