使用脚本保存
cartographer提供了将地图保存为pbstream格式的服务和转变为ros格式的功能包
#!/bin/bash
map_dir="${HOME}/file_path"
map_name="map_name"
#finish trajectory
rosservice call /finish_trajectory 0
#save pbsream
rosservice call /write_state "{filename: '$map_dir/$map_name.pbstream'}"
#pbstream to map
rosrun cartographer_ros cartographer_pbstream_to_ros_map \
-pbstream_filename=$map_dir/$map_name.pbstream \
-map_filestem=$map_dir/$map_name
脚本可执行权限
赋予脚本可执行文件
chmod +x ./script_name.sh
运行脚本
./script_name.sh