Follow cartographer-project/cartographer#1759. (cartographer-project#…

…1525) Signed-off-by: Wolfgang Hess <[email protected]>
wohe · Oct 13, 2020 · 8064b8f · 8064b8f
1 parent 868d147
commit 8064b8f
Showing 1 changed file with 3 additions and 2 deletions.
diff --git a/cartographer_ros/cartographer_ros/ros_map_writing_points_processor.cc b/cartographer_ros/cartographer_ros/ros_map_writing_points_processor.cc
@@ -51,8 +51,9 @@ RosMapWritingPointsProcessor::FromDictionary(
 
 void RosMapWritingPointsProcessor::Process(
     std::unique_ptr<::cartographer::io::PointsBatch> batch) {
-  range_data_inserter_.Insert({batch->origin, batch->points, {}},
-                              &probability_grid_);
+  range_data_inserter_.Insert(
+      {batch->origin, ::cartographer::sensor::PointCloud(batch->points), {}},
+      &probability_grid_);
   next_->Process(std::move(batch));
 }