cartographer保存地图shell脚本

cartographer保存地图shell脚本

#!/bin/bash

source install_isolated/setup.bash

map_dir="${HOME}/map"
map_name="map1"

if [ ! -d "$map_dir" ];then
  echo "creating dir"
  mkdir -p $map_dir
fi

rosservice call /finish_trajectory 0
rosservice call /write_state "{filename: '$map_dir/$map_name.pbstream'}"
rosrun cartographer_ros cartographer_pbstream_to_ros_map -pbstream_filename=$map_dir/$map_name.pbstream -map_filestem=$map_dir/$map_name