cartographer和eai的s4型号激光雷达实时建图配置

cartographer和eai的s4型号激光雷达实时建图配置

这是一个激光雷达的建图配置，没有其他的传感器
.launch文件
对每个节点大致解释
cartographer_node　这个节点每个launch都有，指向a1.lua文件。
playbag这个节点被删除了，不然会报错
cartographer_occupancy_grid_node
robot_state_publisher

<launch>
  <param name="robot_description"
    textfile="$(find cartographer_ros)/urdf/backpack_2d.urdf" />

  <!--node name="robot_state_publisher" pkg="robot_state_publisher"
    type="robot_state_publisher" /-->

  <node name="cartographer_node" pkg="cartographer_ros"
      type="cartographer_node" args="
          -configuration_directory $(find cartographer_ros)/configuration_files
          -configuration_basename a1.lua"
      output="screen">
    <remap from="scan" to="scan" />
  </node>
  &l