具体参考几位大拿的博客:
https://blog.csdn.net/w383117613/article/details/46860075
https://blog.csdn.net/sunyoop/article/details/78228149
https://blog.csdn.net/forrest_z/article/details/63684997
https://blog.csdn.net/x_r_su/article/details/53392272
http://wiki.ros.org/map_server