From e4bfd557975443c3be71253adde71e153379a258 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Christoph=20Sch=C3=BCtte?= <cschuet@google.com>
Date: Thu, 10 May 2018 12:37:20 +0200
Subject: [PATCH] Follow googlecartographer/cartographer#1143 (#859)

---
 cartographer_ros/cartographer_ros/node_main.cc         | 3 ++-
 cartographer_ros/cartographer_ros/offline_node_main.cc | 3 ++-
 2 files changed, 4 insertions(+), 2 deletions(-)

diff --git a/cartographer_ros/cartographer_ros/node_main.cc b/cartographer_ros/cartographer_ros/node_main.cc
index b41972c..75b195a 100644
--- a/cartographer_ros/cartographer_ros/node_main.cc
+++ b/cartographer_ros/cartographer_ros/node_main.cc
@@ -54,7 +54,8 @@ void Run() {
 
   auto map_builder =
       cartographer::common::make_unique<cartographer::mapping::MapBuilder>(
-          node_options.map_builder_options);
+          node_options.map_builder_options,
+          nullptr /* global_slam_result_callback*/);
   Node node(node_options, std::move(map_builder), &tf_buffer);
   if (!FLAGS_load_state_filename.empty()) {
     node.LoadState(FLAGS_load_state_filename, FLAGS_load_frozen_state);
diff --git a/cartographer_ros/cartographer_ros/offline_node_main.cc b/cartographer_ros/cartographer_ros/offline_node_main.cc
index 845954f..8290480 100644
--- a/cartographer_ros/cartographer_ros/offline_node_main.cc
+++ b/cartographer_ros/cartographer_ros/offline_node_main.cc
@@ -33,7 +33,8 @@ int main(int argc, char** argv) {
       [](const ::cartographer::mapping::proto::MapBuilderOptions&
              map_builder_options) {
         return ::cartographer::common::make_unique<
-            ::cartographer::mapping::MapBuilder>(map_builder_options);
+            ::cartographer::mapping::MapBuilder>(
+            map_builder_options, nullptr /* global_slam_result_callback */);
       };
 
   cartographer_ros::RunOfflineNode(map_builder_factory);