跑德意志---cartographer

cd catkin_ws
source devel_isolated/setup.bash
roslaunch cartographer_ros demo_backpack_2d.launch bag_filename:=${HOME}/Downloads/cartographer_paper_deutsches_museum.bag

wget -P ~/Downloads https://storage.googleapis.com/cartographer-public-data/bags/backpack_2d/cartographer_paper_deutsches_museum.bag
//下载2d德意志地图

打开另一个终端，先source 
rosservice call /finish_trajectory 0
//不再接受进一步数据

rosservice call /write_state "{filename: '${HOME}/Downloads/mymap_name.pbstream'}"
//序列化保存其当前状态

rosrun cartographer_ros cartographer_pbstream_to_ros_map  -map_filestem=${HOME}/Downloads/mymap_name  -pbstream_filename=${HOME}/Downloads/mymap_name.pbstream -resolution=0.05
//将pbstream转换为pgm和yaml