cartographer只用激光（hokuyo）2D建图

一、修改文件

1.主要是修改demo_revo_lds.launch和revo_lds.lua文件。

这里我新建了与之对应的hokuyo_slam.launch和hokuyo.lua文件
hokuyo_slam.launch

<launch>
  <param name="/use_sim_time" value="false" />
  
  <node name="hokuyo" pkg="hokuyo_node" type="hokuyo_node" respawn="false" output="screen">
 
  <param name="calibrate_time" type="bool" value="false"/> 
  <param name="port" type="string" value="/dev/hokuyo"/> 
  <param name="frame_id"  type="string" value="laser"/>
  <param name="intensity" type="bool" value="false"/>
  </node>
  <node name="cartographer_node" pkg="cartographer_ros"
      type="cartographer_node" args="
          -configuration_directory $(find cartographer_ros)/configuration_files
          -configuration_basename hokuyo.lua"
      output="screen">
    <remap from="scan" to="scan" />