Remove CHECK preventing the use of the IMU-based extrapolator. (#1804)

Fixes #1803. Signed-off-by: Wolfgang Hess <whess@lyft.com>
cartographer-project · Jan 26, 2021 · a48f12d · a48f12d
1 parent 018dded
commit a48f12d
Showing 1 changed file with 0 additions and 2 deletions.
diff --git a/cartographer/mapping/pose_extrapolator_interface.cc b/cartographer/mapping/pose_extrapolator_interface.cc
@@ -84,8 +84,6 @@ PoseExtrapolatorInterface::CreateWithImuData(
     const std::vector<sensor::ImuData>& imu_data,
     const std::vector<transform::TimestampedTransform>& initial_poses) {
   CHECK(!imu_data.empty());
-  // TODO(schwoere): Implement/integrate imu based extrapolator.
-  CHECK(!options.use_imu_based()) << "Not implemented!";
   if (options.use_imu_based()) {
     return ImuBasedPoseExtrapolator::InitializeWithImu(options.imu_based(),
                                                        imu_data, initial_poses);