如何使用ROS录制雷达数据集运行cartographer（以rplidar为例）

1、首先启动rplidar的话题发布launch文件

2、录制rosbag数据

(1)使用rosbag record -a 录制所有话题的数据;
(2)使用rosbag record -O yang /rosout /scan /rosout_agg录制指定的话题数据
其中-O为设置选项，yang为数据包名，/rosout /scan /rosout_agg为各个话题

3、在cartographer中测试

3.1编写rplidar.lua脚本

include "map_builder.lua"
include "trajectory_builder.lua"
 
options = {
  map_builder = MAP_BUILDER,
  trajectory_builder = TRAJECTORY_BUILDER,
  map_frame = "map",
  tracking_frame = "laser",
  published_frame = "laser",
  odom_frame = "odom",
  provide_odom_frame = true,
  publish_frame_projected_to_2d = false,
  use_odometry = false,
  use_nav_sat = false,
  use_landmarks = false,
  num_laser_scans = 1,
  num_multi_echo_laser_scans = 0,
  num_subdivisions_per_laser_scan = 1,
  num_point_clouds = 0,
  lookup