1,完成轨迹,不再接受数据
rosservice call /finish_trajectory 0
2,生成.pbstream文件
rosservice call /write_state "{filename: '${HOME}/Downloads/mymap.pbstream'}"
3,把.pbstream文件转化为二维栅格地图
rosrun cartographer_ros cartographer_pbstream_to_ros_map -map_filestem=${HOME}/Downloads/mymap -pbstream_filename=${HOME}/Downloads/mymap.pbstream -resolution=0.05