Fixed build with RTAB-Map 0.21.8 (and grid_map_core dep)

introlab · Oct 9, 2024 · e76cbed · e76cbed
1 parent 7819fd4
commit e76cbed
Showing 1 changed file with 4 additions and 0 deletions.
diff --git a/rtabmap_util/src/MapsManager.cpp b/rtabmap_util/src/MapsManager.cpp
@@ -1362,7 +1362,11 @@ void MapsManager::publishMaps(
 		(elevationMapPub_->get_subscription_count() && !latched_.at(&elevationMapPub_)))
 	{
 		grid_map_msgs::msg::GridMap::UniquePtr msg;
+#if RTABMAP_VERSION_MAJOR>0 || (RTABMAP_VERSION_MAJOR==0 && RTABMAP_VERSION_MINOR>21) || (RTABMAP_VERSION_MAJOR==0 && RTABMAP_VERSION_MINOR==21 && RTABMAP_VERSION_MINOR>=8)
+		msg = grid_map::GridMapRosConverter::toMessage(*elevationMap_->gridMap());
+#else
 		msg = grid_map::GridMapRosConverter::toMessage(elevationMap_->gridMap());
+#endif
 		msg->header.frame_id = mapFrameId;
 		msg->header.stamp = stamp;
 		elevationMapPub_->publish(std::move(msg));