1、保存已经建好地图
(1)先进入工作空间下source一下,否则会报错。
source install_isolated/setup.bash
(2)完成轨迹, 不接受进一步的数据。
rosservice call /finish_trajectory 0
(3)保存其当前状态
rosservice call /write_state "{filename: '${HOME}/Downloads/mymap.pbstream'}"
(4)将pbstream转换为pgm和yaml
rosrun cartographer_ros cartographer_pbstream_to_ros_map -map_filestem=${HOME}/Downloads/mymap -pbstream_filename=${HOME}/Downloads/mymap.pbstream -resolution=0.05