From c32cb49b0174b6af7c482e1f8f1b128ac659241d Mon Sep 17 00:00:00 2001
From: Alexander Belyaev <32522095+pifon2a@users.noreply.github.com>
Date: Tue, 20 Feb 2018 16:00:01 +0100
Subject: [PATCH] Fix gRPC loading of pbstreams. (#919)

---
 cartographer_grpc/mapping/map_builder_stub.cc | 5 +++++
 1 file changed, 5 insertions(+)

diff --git a/cartographer_grpc/mapping/map_builder_stub.cc b/cartographer_grpc/mapping/map_builder_stub.cc
index 99d3645..1d4a615 100644
--- a/cartographer_grpc/mapping/map_builder_stub.cc
+++ b/cartographer_grpc/mapping/map_builder_stub.cc
@@ -122,6 +122,11 @@ void MapBuilderStub::LoadMap(
   {
     proto::LoadMapRequest request;
     CHECK(reader->ReadProto(request.mutable_pose_graph()));
+    CHECK(client.Write(request));
+  }
+  // Request with an AllTrajectoryBuilderOptions should be second.
+  {
+    proto::LoadMapRequest request;
     CHECK(reader->ReadProto(request.mutable_all_trajectory_builder_options()));
     CHECK(client.Write(request));
   }