保存地图
# Finish the first trajectory. No further data will be accepted on it.
rosservice call /finish_trajectory 0
# Ask Cartographer to serialize its current state.
# (press tab to quickly expand the parameter syntax)
rosservice call /write_state "{filename: '${HOME}/Downloads/b3-2016-04-05-14-14-00.bag.pbstream', include_unfinished_submaps: 'true'}"
运行纯定位,需要按照2d的demo修改如下