cartographer运行步骤

先驱动雷达
$roslaunch rslidar_pointcloud rs_lidar_16.launch
再运行pointcloud_to_laserscan节点将三维数据转化成二维
$ roslaunch pointcloud_to_laserscan point_to_scan.launch
最后运行cartographer
~/cartographer_ws$ source install_isolated/setup.bash

$roslaunch cartographer_ros cartographer_demo_rslidar.launch

cartographer相关配置：

launch文件：

  <param name="/use_sim_time" value="true" />

  <node name="cartographer_node" pkg="cartographer_ros"
      type="cartographer_node" args="
          -configuration_directory $(find cartographer_ros)/configuration_files
          -configuration_basename rslidar.lua"
      output="screen">
    <remap from="scan" to="scan" />     ！！注意雷达数据经过转换后这里是scan
  </node>

  <node name="rviz" pkg="rviz