roslaunch rikirobot stm32bringup_l.launch
rosrun rosserial_python serial_node.py /dev/ttyUSB0
rosrun hokuyo_node hokuyo_node
roslaunch cartographer_ros cartographer_demo_hokuyo_remote.launch
roscd rikirobot
cd maps
./ cartographer_map.sh
rosrun map_server map_server -f ~tmp/map30