cartographer 保存地图

参考：https://www.ncnynl.com/archives/201904/2915.html

 

先进入工作空间下：source install_isolated/setup.bash

如果不先source一下，会报错：

root@NanoPi-M1-Plus:~/catkin_ws# rosservice call /finish_trajectory 0
ERROR: Unable to load type [cartographer_ros_msgs/FinishTrajectory].
Have you typed 'make' in [cartographer_ros_msgs]?

以下步骤保存地图：

• 完成轨迹, 不接受进一步的数据：

  rosservice call /finish_trajectory 0

• 序列化保存其当前状态：

rosservice call /write_state "{filename: '${HOME}/Downloads/mymap.pbstream'}"

• 将pbstream转换为pgm和yaml

rosrun cartographer_ros cartographer_pbstream_to_ros_map -map_filestem=${HOME}/Downloads/mymap -pbstream_filename=${HOME}/Downloads/mymap.pbstream -resolution=0.05

地图文件所在的目录：与工作空间同目录下的Downloads目录下。