Ubuntu16.04+kinetic+cartographer创建三维地图与二维地图

1、安装cartographer软件包。因为cartography软件包已经集成到kinetic版本中，所以你直接使用cartographer建图，可以下载集成到kinetic中编译过的软件包。下载命令是：sudo apt-get install ros-kinetic-cartographer sudo apt-get install ros-kinetic-cartographer-ros sudo apt-get install ros-kinetic-cartographer-ros-msgs sudo apt-get install ros-kinetic-cartographer-rviz。

2、下载资源包。下载命令是：wget -P ~/Downloads https://storage.googleapis.com/cartographer-public-data/bags/backpack_2d/cartographer_paper_deutsches_museum.bag（二维资料包） 。wget -P ~/Downloads https://storage.googleapis.com/cartographer-public-data/bags/backpack_3d/with_intensities/b3-2016-04-05-14-14-00.bag（三维资料包）。

3、测试。roslaunch cartographer_ros demo_backpack_2d.launch bag_filename:=${HOME}/Downloads/cartographer_paper_deutsches_museum.bag（二维）。roslaunch cartographer_ros demo_backpack_3d.launch bag_filename:=${HOME}/Downloads/b3-2016-04-05-14-14-00.bag（三维）