cartographer的localization模式设置初始位姿

思路来至：https://blog.csdn.net/xiekaikaibing/article/details/80080506

<!--当cartographer处于定位模式下时，设置初始位姿-->
<!--cartographer启动几秒之后再启动此launch-->
<launch>
<arg name="trajectory_id" default="1"/>
 <!--结束当前的的trajectory 开始时为1 -->
  <node pkg="rosservice" type="rosservice" name="finish_trajectory" args="call /finish_trajectory $(arg trajectory_id)"/>

<!--重新开始trajectory,并设置初始位置，此时在submap中的trajectory为2-->
  <node name="cartographer_start_trajectory" pkg="cartographer_ros" type="cartographer_start_trajectory" 
      args= "
      -configuration_directory  $(find folktruck)/params 
      -configuration_basename localization.lua 
      -initial_pose {to_trajectory_id=0,relative_pose={translation={-10.0,5.0,0.},rotation={0.,0.,1.7,}}}" />
 </launch>