紧接一条的笔记cartographer中map保存官方的教程

1.进入到工作空间下

cd cartographer_ros

2.刷新环境变量

source install_isolated/setup.bash

3.停止数据的传入

rosservice call /finish_trajectory 0

4.写下这个数据流

rosservice call /write_state "{filename: '${HOME}/Downloads/mymap.pbstream'}"

${HOME}/Downloads/mymap.pbstream这是跟的一个报讯的路径
比如：我在home中建立了一个map
我可以改成：

rosservice call /write_state "{filename: '${HOME}/map/mymap.pbstream'}"

5.将.pbstream格式转化成.png和.yaml格式

rosrun cartographer_ros cartographer_pbstream_to_ros_map -map_filestem=${HOME}/Downloads/mymap -pbstream_filename=${HOME}/Downloads/mymap.pbstream -resolution=0.05