通过查询Interface, cartograher给ros端留了3个接口:
1-cartographer::mapping::MapBuilderInterface
2-cartographer::mapping::PoseGraphInterface
3-cartographer::mapping::TrajectoryBuilderInterface
主要是2个,MapBuilderInterface,TrajectoryBuilderInterface,
我们看看MapBuilderInterface和TrajectoryBuilderInterface分别在ros端使用了哪些接口函数
MapBuilderInterface
1-加载地图
map_builder_->LoadState(&stream,
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