建完图后:
rosservice call /finish_trajectory 0
#保存pbstream
rosservice call /write_state /home/qixianyu/jhz_map.pbstream
#转换为ros地图
rosrun cartographer_ros cartographer_pbstream_to_ros_map -map_filestem=/home/qixianyu/123 -pbstream_filename=/home/qixianyu/carto_map.pbstream
插件被屏蔽了还是咋的,给别人回复不了!