参考文章
https://blog.csdn.net/xiekaikaibing/article/details/80320822
自己测试
rosrun cartographer_ros cartographer_pbstream_to_ros_map -map_filestem=/home/cabin/Desktop/carto_map_define -pbstream_filename=/home/cabin/Desktop/carto_map.pbstream -resolution=0.05
生成的文件和carto_map在同一目录下,名字叫carto_map_define.pgm 和carto_map_define.yaml