message: Clean out ESDF map creation in the test a bit.
diff: #include "voxblox/core/voxel.h"
  #include "voxblox/io/layer_io.h"
  #include "voxblox/test/layer_test_utils.h"
  -#include "voxblox/core/esdf_map.h"
  -#include "voxblox/integrator/esdf_integrator.h"
  using namespace voxblox; // NOLINT
  @@ -214,30 +212,18 @@ TEST_F(ProtobufTsdfTest, LayerSubsetSerializationFromFile) {
  }
  TEST_F(ProtobufTsdfTest, MultipleLayerSerialization) {
  - // First, generate an ESDF out of the test TSDF layer.
  - // ESDF maps.
  - EsdfMap::Config esdf_config;
  - // Same number of voxels per side for ESDF as with TSDF
  - esdf_config.esdf_voxels_per_side = layer_->voxels_per_side();
  - // Same voxel size for ESDF as with TSDF
  - esdf_config.esdf_voxel_size = layer_->voxel_size();
  -
  - // Default settings are fine, actual content of the ESDF doesn't matter
  - // much.
  - EsdfIntegrator::Config esdf_integrator_config;
  -
  - EsdfMap esdf_map(esdf_config);
  - EsdfIntegrator esdf_integrator(esdf_integrator_config, layer_.get(),
  - esdf_map.getEsdfLayerPtr());
  -
  - esdf_integrator.updateFromTsdfLayerBatchFullEuclidean();
  + Layer<EsdfVoxel>::Ptr esdf_layer;
  + // Match TSDF settings.
  + esdf_layer.reset(new Layer<EsdfVoxel>(voxel_size_, voxels_per_side_));
  + voxblox::test::SetUpTestLayer(kBlockVolumeDiameter, esdf_layer.get());
  +
  voxblox::test::LayerTest<EsdfVoxel> esdf_test;
  const std::string file = "multi_layer_test.voxblox";
  bool clear_file = true;
  io::SaveLayer(*layer_, file, clear_file);
  clear_file = false;
  - io::SaveLayer(*esdf_map.getEsdfLayerPtr(), file, clear_file);
  + io::SaveLayer(*esdf_layer, file, clear_file);
  bool multiple_layer_support = true;
  Layer<TsdfVoxel>::Ptr tsdf_layer_from_file;
  @@ -249,7 +235,7 @@ TEST_F(ProtobufTsdfTest, MultipleLayerSerialization) {
  &esdf_layer_from_file));
  CompareLayers(*layer_, *tsdf_layer_from_file);
  - esdf_test.CompareLayers(*esdf_map.getEsdfLayerPtr(), *esdf_layer_from_file);
  + esdf_test.CompareLayers(*esdf_layer, *esdf_layer_from_file);
  }
  int main(int argc, char** argv) {
  