From 5998f49e1394e35af545eacc110345addd340ed2 Mon Sep 17 00:00:00 2001
From: Wolfgang Hess <whess@google.com>
Date: Sat, 10 Jun 2017 10:41:39 +0200
Subject: [PATCH] [cartographer_ros] Follow
 googlecartographer/cartographer#326. (#370) Original commit:
 googlecartographer/cartographer_ros@8d8cc09f80563893a5a5abad65fdca96b5fdb320

---
 .../cartographer_ros/occupancy_grid_test.cc   | 25 +++++++++++--------
 1 file changed, 14 insertions(+), 11 deletions(-)

diff --git a/cartographer_ros/cartographer_ros/cartographer_ros/occupancy_grid_test.cc b/cartographer_ros/cartographer_ros/cartographer_ros/occupancy_grid_test.cc
index 338f6426..1f2c8867 100644
--- a/cartographer_ros/cartographer_ros/cartographer_ros/occupancy_grid_test.cc
+++ b/cartographer_ros/cartographer_ros/cartographer_ros/occupancy_grid_test.cc
@@ -16,6 +16,8 @@
 
 #include "cartographer_ros/occupancy_grid.h"
 
+#include <memory>
+
 #include "cartographer/common/time.h"
 #include "cartographer/sensor/range_data.h"
 #include "gtest/gtest.h"
@@ -25,18 +27,19 @@ namespace cartographer_ros {
 namespace {
 
 TEST(OccupancyGridTest, ComputeMapLimits) {
+  using ::cartographer::mapping::TrajectoryNode;
   constexpr int kTrajectoryId = 0;
-  const ::cartographer::mapping::TrajectoryNode::ConstantData constant_data{
-      ::cartographer::common::FromUniversal(52),
-      ::cartographer::sensor::RangeData{
-          Eigen::Vector3f::Zero(),
-          {Eigen::Vector3f(-30.f, 1.f, 0.f), Eigen::Vector3f(50.f, -10.f, 0.f)},
-          {}},
-      ::cartographer::sensor::Compress(
-          ::cartographer::sensor::RangeData{Eigen::Vector3f::Zero(), {}, {}}),
-      kTrajectoryId, ::cartographer::transform::Rigid3d::Identity()};
-  const ::cartographer::mapping::TrajectoryNode trajectory_node{
-      &constant_data, ::cartographer::transform::Rigid3d::Identity()};
+  const TrajectoryNode trajectory_node{
+      std::make_shared<TrajectoryNode::Data>(TrajectoryNode::Data{
+          ::cartographer::common::FromUniversal(52),
+          ::cartographer::sensor::RangeData{Eigen::Vector3f::Zero(),
+                                            {Eigen::Vector3f(-30.f, 1.f, 0.f),
+                                             Eigen::Vector3f(50.f, -10.f, 0.f)},
+                                            {}},
+          ::cartographer::sensor::Compress(::cartographer::sensor::RangeData{
+              Eigen::Vector3f::Zero(), {}, {}}),
+          kTrajectoryId, ::cartographer::transform::Rigid3d::Identity()}),
+      ::cartographer::transform::Rigid3d::Identity()};
   constexpr double kResolution = 0.05;
   const ::cartographer::mapping_2d::MapLimits limits =
       ComputeMapLimits(kResolution, {trajectory_node});