翻译ERASOR

一.如何运行：

launch/mapgen.launch.

<launch>

<node name="kitti_mapgen" pkg="erasor" type="kitti_mapgen" output="screen">
    <rosparam param="/map/voxelsize">0.2</rosparam>		
    <rosparam param="/map/target_rosbag">"05_2350_to_2670_w_interval_2_node.bag"</rosparam>
    <rosparam param="/map/save_path">"/media/shapelim/UX960NVMe1/deep_express/kitti_rosbag"</rosparam>
    <rosparam param="/map/viz_interval">1</rosparam>
    <rosparam param="/large_scale/is_large_scale">true</rosparam>
</node>

<node name="rviz" pkg="rviz" type="rviz" args="-d $(find erasor)/rviz/kitti_mapgen.rviz"/>

</launch>

参数修改：

target_rosbag：播放的bag包