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Make MapBuilderBridge::GetSubmapList() use GetAllSubmapPoses() (#647)

master
Christoph Schütte 2018-01-05 15:10:52 +01:00 committed by Wally B. Feed
parent acc2143ff7
commit d34a2e36b8
1 changed files with 6 additions and 6 deletions
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12
cartographer_ros/cartographer_ros/map_builder_bridge.cc
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@ -158,13 +158,13 @@ cartographer_ros_msgs::SubmapList MapBuilderBridge::GetSubmapList() {
cartographer_ros_msgs::SubmapList submap_list; cartographer_ros_msgs::SubmapList submap_list;
submap_list.header.stamp = ::ros::Time::now(); submap_list.header.stamp = ::ros::Time::now();
submap_list.header.frame_id = node_options_.map_frame; submap_list.header.frame_id = node_options_.map_frame;
for (const auto& submap_id_data : for (const auto& submap_id_pose :
map_builder_->pose_graph()->GetAllSubmapData()) { map_builder_->pose_graph()->GetAllSubmapPoses()) {
cartographer_ros_msgs::SubmapEntry submap_entry; cartographer_ros_msgs::SubmapEntry submap_entry;
submap_entry.trajectory_id = submap_id_data.id.trajectory_id; submap_entry.trajectory_id = submap_id_pose.id.trajectory_id;
submap_entry.submap_index = submap_id_data.id.submap_index; submap_entry.submap_index = submap_id_pose.id.submap_index;
submap_entry.submap_version = submap_id_data.data.submap->num_range_data(); submap_entry.submap_version = submap_id_pose.data.version;
submap_entry.pose = ToGeometryMsgPose(submap_id_data.data.pose); submap_entry.pose = ToGeometryMsgPose(submap_id_pose.data.pose);
submap_list.submap.push_back(submap_entry); submap_list.submap.push_back(submap_entry);
} }
return submap_list; return submap_list;