--- ros-humble-cartographer-2.0.9002/cartographer/mapping/internal/range_data_collator_test.cc	2022-04-20 08:00:55.000000000 +0800
+++ ros-humble-cartographer-2.0.9002/cartographer/mapping/internal/range_data_collator_test.cc	2023-09-12 11:39:48.000000000 +0800
@@ -31,7 +31,7 @@
   double duration = common::ToSeconds(common::FromUniversal(to) -
                                       common::FromUniversal(from));
   sensor::TimedPointCloudData result{
-      common::FromUniversal(to), Eigen::Vector3f(0., 1., 2.), {}, {}};
+      common::FromUniversal(to), Eigen::Vector3f(0., 1., 2.), {{Eigen::Vector3f::Zero(),0}}, {}};
   result.ranges.reserve(kNumSamples);
   for (int i = 0; i < kNumSamples; ++i) {
     double fraction = static_cast<double>(i) / (kNumSamples - 1);
@@ -92,7 +92,7 @@
   const std::string sensor_id = "single_sensor";
   RangeDataCollator collator({sensor_id});
   sensor::TimedPointCloudData empty_data{
-      common::FromUniversal(300), {}, {}, {}};
+      common::FromUniversal(300), Eigen::Vector3f::Zero(), {{Eigen::Vector3f::Zero(),0}}, {}};
   auto output_0 = collator.AddRangeData(sensor_id, empty_data);
   EXPECT_EQ(output_0.time, empty_data.time);
   EXPECT_EQ(output_0.ranges.size(), empty_data.ranges.size());
--- ros-humble-cartographer-2.0.9002/cartographer/sensor/internal/test_helpers.h	2022-04-20 08:00:55.000000000 +0800
+++ ros-humble-cartographer-2.0.9002/cartographer/sensor/internal/test_helpers.h	2023-09-12 12:25:49.000000000 +0800
@@ -47,7 +47,7 @@
                                      const std::string& sensor_id, int time) {
     return CollatorInput{
         trajectory_id,
-        MakeDispatchable(sensor_id, ImuData{common::FromUniversal(time)}),
+        MakeDispatchable(sensor_id, ImuData{common::FromUniversal(time),Eigen::Vector3d::Zero(),Eigen::Vector3d::Zero()}),
         CollatorOutput{trajectory_id, sensor_id, common::FromUniversal(time)}};
   }
   static CollatorInput CreateTimedPointCloudData(int trajectory_id,
@@ -58,7 +58,7 @@
         MakeDispatchable(
             sensor_id,
             TimedPointCloudData{
-                common::FromUniversal(time), Eigen::Vector3f::Zero(), {}}),
+                common::FromUniversal(time), Eigen::Vector3f::Zero(), {{Eigen::Vector3f::Zero(),0}}}),
         CollatorOutput{trajectory_id, sensor_id, common::FromUniversal(time)}};
   }
   static CollatorInput CreateOdometryData(int trajectory_id,