在仿真环境下使用Turtlebot3跑Cartographer算法 - 灰信网(软件开发博客聚合)
保存地图操作案例,记得要写绝对路径,否则指令无效。
0> rosservice call /finish_trajectory 0
1>rosservice call /write_state "{filename: '/home/dch/map/cartographer_map/mymap.pbstream'}"
2>rosrun cartographer_ros cartographer_pbstream_to_ros_map -map_filestem='/home/dch/map/cartographer_map/mymap' -pbstream_filename='/home/dch/map/cartographer_map/mymap.pbstream' -resolution=0.05