1.安装cartographer:
https://blog.csdn.net/rjasd1128hf/article/details/79888305
官网(仅供参考):https://google-cartographer-ros.readthedocs.io/en/latest/demos.html
2. 下次启动:
首先:source install_isolated/setup.bash
然后:wget -P ~/Downloads https://storage.googleapis.com/cartographer-public-data/bags/backpack_2d/cartographer_paper_deutsches_museum.bag