Cartographer实现双雷达建图

Urdf修改

<?xml version="1.0" ?>
<robot name="robot">

  <link name="base_link" />
  <link name="laser_1" />
  <link name="laser_2" />

  <link name="laser_link" />

  <joint name="laser_link_joint" type="fixed">
    <parent link="base_link" />
    <child link="laser_link" />
  </joint>

  <joint name="front_laser_link_joint" type="fixed">
    <parent link="laser_link" />
    <child link="laser_1" />
    <!-- rotation xyzw 0 0 0.389708 0.920939 -->
     <origin xyz="0.44 0 0" rpy="0 0 0"/>
  </joint>

  <joint name="back_laser_link_joint" type="fixed">
    <parent link="laser_link" />
    <