Use the MapBuilder factory function. (#1551)

This follows cartographer-project/cartographer#1776. Signed-off-by: Wolfgang Hess <whess@lyft.com>
cartographer-project · Nov 6, 2020 · 2712067 · 2712067
1 parent b1dde03
commit 2712067
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diff --git a/cartographer_ros/cartographer_ros/node_main.cc b/cartographer_ros/cartographer_ros/node_main.cc
@@ -56,8 +56,8 @@ void Run() {
   std::tie(node_options, trajectory_options) =
       LoadOptions(FLAGS_configuration_directory, FLAGS_configuration_basename);
 
-  auto map_builder = absl::make_unique<cartographer::mapping::MapBuilder>(
-      node_options.map_builder_options);
+  auto map_builder =
+      cartographer::mapping::CreateMapBuilder(node_options.map_builder_options);
   Node node(node_options, std::move(map_builder), &tf_buffer,
             FLAGS_collect_metrics);
   if (!FLAGS_load_state_filename.empty()) {

diff --git a/cartographer_ros/cartographer_ros/node_options.cc b/cartographer_ros/cartographer_ros/node_options.cc
@@ -19,7 +19,7 @@
 #include <vector>
 
 #include "cartographer/common/configuration_file_resolver.h"
-#include "cartographer/mapping/map_builder.h"
+#include "cartographer/mapping/map_builder_interface.h"
 #include "glog/logging.h"
 
 namespace cartographer_ros {

diff --git a/cartographer_ros/cartographer_ros/offline_node_main.cc b/cartographer_ros/cartographer_ros/offline_node_main.cc
@@ -29,12 +29,11 @@ int main(int argc, char** argv) {
 
   cartographer_ros::ScopedRosLogSink ros_log_sink;
 
-  const cartographer_ros::MapBuilderFactory map_builder_factory =
-      [](const ::cartographer::mapping::proto::MapBuilderOptions&
-             map_builder_options) {
-        return absl::make_unique< ::cartographer::mapping::MapBuilder>(
-            map_builder_options);
-      };
+  const cartographer_ros::MapBuilderFactory map_builder_factory = [](
+      const ::cartographer::mapping::proto::MapBuilderOptions&
+          map_builder_options) {
+    return ::cartographer::mapping::CreateMapBuilder(map_builder_options);
+  };
 
   cartographer_ros::RunOfflineNode(map_builder_factory);