From d10abbf5888e42dd05cf14e7facdca3285f0575c Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Christoph=20Sch=C3=BCtte?= <cschuet@google.com>
Date: Wed, 10 Jan 2018 19:39:33 +0100
Subject: [PATCH] Follow googlecartographer/cartographer#801 (#657)

---
 cartographer_ros/cartographer_ros/map_builder_bridge.cc | 3 ++-
 cartographer_ros/cartographer_ros/map_builder_bridge.h  | 5 +++--
 2 files changed, 5 insertions(+), 3 deletions(-)

diff --git a/cartographer_ros/cartographer_ros/map_builder_bridge.cc b/cartographer_ros/cartographer_ros/map_builder_bridge.cc
index 7968065..b73fb3e 100644
--- a/cartographer_ros/cartographer_ros/map_builder_bridge.cc
+++ b/cartographer_ros/cartographer_ros/map_builder_bridge.cc
@@ -332,7 +332,8 @@ void MapBuilderBridge::OnLocalSlamResult(
     const int trajectory_id, const ::cartographer::common::Time time,
     const ::cartographer::transform::Rigid3d local_pose,
     ::cartographer::sensor::RangeData range_data_in_local,
-    const std::unique_ptr<const ::cartographer::mapping::NodeId>) {
+    const std::unique_ptr<const ::cartographer::mapping::
+                              TrajectoryBuilderInterface::InsertionResult>) {
   std::shared_ptr<const TrajectoryState::LocalSlamData> local_slam_data =
       std::make_shared<TrajectoryState::LocalSlamData>(
           TrajectoryState::LocalSlamData{time, local_pose,
diff --git a/cartographer_ros/cartographer_ros/map_builder_bridge.h b/cartographer_ros/cartographer_ros/map_builder_bridge.h
index 13f373c..73314a8 100644
--- a/cartographer_ros/cartographer_ros/map_builder_bridge.h
+++ b/cartographer_ros/cartographer_ros/map_builder_bridge.h
@@ -86,8 +86,9 @@ class MapBuilderBridge {
       const int trajectory_id, const ::cartographer::common::Time time,
       const ::cartographer::transform::Rigid3d local_pose,
       ::cartographer::sensor::RangeData range_data_in_local,
-      const std::unique_ptr<const ::cartographer::mapping::NodeId>)
-      EXCLUDES(mutex_);
+      const std::unique_ptr<const ::cartographer::mapping::
+                                TrajectoryBuilderInterface::InsertionResult>
+          insertion_result) EXCLUDES(mutex_);
 
   cartographer::common::Mutex mutex_;
   const NodeOptions node_options_;