PCL保存LIO-SAM地图时报错[pcl::PCDWriter::writeBinary]

今天在运行LIO-SAM的时候
想着保存PCD地图文件，
但是最后保存的时候终端报错：

terminate called after throwing an instance of 'pcl::IOException'
what(): :[pcl::PCDWriter::writeBinary] Error during open!
[rosout-1] killing on exit
[master] killing on exit
shutting down processing monitor...
... shutting down processing monitor complete
done

解决：是保存pcl点云库文件的路径出错。

我打印出saveMapDirectory变量显示：

Save destination:/home/qjf/home/qjf/slam/laser_SLAM/liosam_ws/output/pcd

可以看到保存地图的路径重复了家目录，
代码中params.yaml文件中保存的路径这样是不对的，所以将savePCDDirectory由

  savePCDDirectory: "/home/qjf/slam/laser_SLAM/liosam_ws/output/"        # in your home folder, starts and ends with "/". Warning: the code deletes "LOAM" folder then recreates it. See "mapOptimization" for implementation

改为：

  savePCDDirectory: "/slam/laser_SLAM/liosam_ws/output/"        # in your home folder, starts and ends with "/". Warning: the code deletes "LOAM" folder then recreates it. See "mapOptimization" for implementation

再运行就可以了。