From d022b8182f9e313692caaebc80c8e9d01f78a2bc Mon Sep 17 00:00:00 2001
From: Holger Rapp <HolgerRapp@gmx.net>
Date: Tue, 25 Jul 2017 14:32:21 +0200
Subject: [PATCH] Track googlecartographer/cartographer#421. (#441)

---
 cartographer_ros/cartographer_ros/assets_writer_main.cc | 8 ++++++--
 1 file changed, 6 insertions(+), 2 deletions(-)

diff --git a/cartographer_ros/cartographer_ros/assets_writer_main.cc b/cartographer_ros/cartographer_ros/assets_writer_main.cc
index 41c2cd5..93d06e0 100644
--- a/cartographer_ros/cartographer_ros/assets_writer_main.cc
+++ b/cartographer_ros/cartographer_ros/assets_writer_main.cc
@@ -162,9 +162,13 @@ void Run(const string& pose_graph_filename,
     return carto::common::make_unique<carto::io::StreamFileWriter>(filename);
   };
 
+  // This vector must outlive the pipeline.
+  std::vector<::cartographer::mapping::proto::Trajectory> all_trajectories(
+      pose_graph_proto.trajectory().begin(),
+      pose_graph_proto.trajectory().end());
+
   carto::io::PointsProcessorPipelineBuilder builder;
-  // TODO(hrapp): Pass all trajectories to the PointsProcessors.
-  carto::io::RegisterBuiltInPointsProcessors(pose_graph_proto.trajectory(0),
+  carto::io::RegisterBuiltInPointsProcessors(all_trajectories,
                                              file_writer_factory, &builder);
   std::vector<std::unique_ptr<carto::io::PointsProcessor>> pipeline =
       builder.CreatePipeline(