From 8064b8f9b71fde9e375d92321e5e307a96b45f07 Mon Sep 17 00:00:00 2001 From: Wolfgang Hess Date: Tue, 13 Oct 2020 15:50:12 +0200 Subject: [PATCH] Follow cartographer-project/cartographer#1759. (#1525) Signed-off-by: Wolfgang Hess --- .../cartographer_ros/ros_map_writing_points_processor.cc | 5 +++-- 1 file changed, 3 insertions(+), 2 deletions(-) diff --git a/cartographer_ros/cartographer_ros/ros_map_writing_points_processor.cc b/cartographer_ros/cartographer_ros/ros_map_writing_points_processor.cc index 5a4016e..25c0e83 100644 --- 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)); }