Cartographer保存地图

Cartographer无法利用map_server保存地图，根据下面的步骤可以顺利的将地图保存起来：

1、Finish the first trajectory. No further data will be accepted on it.
rosservice call /finish_trajectory 0

2、Ask Cartographer to serialize its current state.
rosservice call /write_state "{filename: '${HOME}/Downloads/mymap.pbstream'}"

filename可以根据自己的需要更改。

3、transform pbstream to pgm and yaml

rosrun cartographer_ros cartographer_pbstream_to_ros_map -map_filestem=/home/kk/Downloads/mymap -pbstream_filename=/home/kk/Downloads/mymap.pbstream -resolution=0.05

地址和文件名根据实际进行修改。