cartographer建立完地图后,无法用map_server保存地图,
cartographer保存地图方式:
1 完成轨迹,不再接受数据
rosservice call /finish_trajectory 0
2 序列化保存当前状态
rosservice call /write_state /home/hostname/mymap.pbstream
3 将pbstream转化为pgm和yaml文件
rosrun cartographer_ros cartographer_pbstream_to_ros_map -map_filestem=/home/hostname/mymap -pbstream_filename=/home/hostname/Downloads/mymap.pbstream -resolution=0.05