1、打开demo_revo_lds.launch文件
sudo gedit ~/cartographer_ws/src/cartographer_ros/cartographer_ros/launch/demo_revo_lds.launch
cartographer_ws根据自己的工作空间替换
2、因为非bag仿真,将以下true改为false
<param name="/use_sim_time" value="true" />
删去以下内容
<node name="playbag" pkg="rosbag" type="play"
args="--clock $(arg bag_filename)" />
3、保存退出,重新编译
catkin_make_isolated --install --use-ninja
4、启动雷达(以下是思岚s2的启动代码)
roslaunch rplidar_ros view_rplidar_s2.launch
5、新建终端,运行cartographer框架
roslaunch cartographer_ros demo_revo_lds.launch