cartographer ros使用指南-保存地图
说明:
前面文章太长,感觉写个简短的,很有必要,下面介绍如何利用官方方法保存地图
步骤:
完成轨迹, 不接受进一步的数据。
rosservice call /finish_trajectory 0
序列化保存其当前状态
rosservice call /write_state "{filename: '${HOME}/Downloads/mymap.pbstream'}"
将pbstream转换为pgm和yaml
rosrun cartographer_ros cartographer_pbstream_to_ros_map -map_filestem=${HOME}/Downloads/mymap -pbstream_filename=${HOME}/Downloads/mymap.pbstream -resolution=0.05
生成对应的pgm和yaml,放于${HOME}/Downloads/mymap目录下