From f89713aaa9887afe5eb76369746c2c0d97644034 Mon Sep 17 00:00:00 2001
From: matlabbe <matlabbe@gmail.com>
Date: Wed, 29 Jul 2015 08:45:55 -0400
Subject: [PATCH] updated for rtabmap 0.10.3

---
 src/OdometryROS.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/src/OdometryROS.cpp b/src/OdometryROS.cpp
index 1df2ec99..3c28aded 100644
--- a/src/OdometryROS.cpp
+++ b/src/OdometryROS.cpp
@@ -381,7 +381,7 @@ void OdometryROS::processData(const SensorData & data, const ros::Time & stamp)
 
 		if(odomLocalMap_.getNumSubscribers() && dynamic_cast<OdometryBOW*>(odometry_))
 		{
-			const std::multimap<int, pcl::PointXYZ> & map = ((OdometryBOW*)odometry_)->getLocalMap();
+			const std::map<int, pcl::PointXYZ> & map = ((OdometryBOW*)odometry_)->getLocalMap();
 			pcl::PointCloud<pcl::PointXYZ> cloud;
 			for(std::multimap<int, pcl::PointXYZ>::const_iterator iter=map.begin(); iter!=map.end(); ++iter)
 			{