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Follow googlecartographer/cartographer#1143 (#859)

master
Christoph Schütte 2018-05-10 12:37:20 +02:00 committed by GitHub
parent be71e346a5
commit e4bfd55797
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2 changed files with 4 additions and 2 deletions
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3
cartographer_ros/cartographer_ros/node_main.cc
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@ -54,7 +54,8 @@ void Run() {
auto map_builder = auto map_builder =
cartographer::common::make_unique<cartographer::mapping::MapBuilder>( 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); Node node(node_options, std::move(map_builder), &tf_buffer);
if (!FLAGS_load_state_filename.empty()) { if (!FLAGS_load_state_filename.empty()) {
node.LoadState(FLAGS_load_state_filename, FLAGS_load_frozen_state); node.LoadState(FLAGS_load_state_filename, FLAGS_load_frozen_state);

3
cartographer_ros/cartographer_ros/offline_node_main.cc
View File

@ -33,7 +33,8 @@ int main(int argc, char** argv) {
[](const ::cartographer::mapping::proto::MapBuilderOptions& [](const ::cartographer::mapping::proto::MapBuilderOptions&
map_builder_options) { map_builder_options) {
return ::cartographer::common::make_unique< 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); cartographer_ros::RunOfflineNode(map_builder_factory);