打开一个新终端,停止接收数据:
rosservice call /finish_trajectory 0
生成pbstream文件:
rosservice call /write_state /home/zzr/carto_ws/map.pbstream //自己的路径
或者
rosservice call /write_state "filename: 'map.pbstream' "
地图保存在目录 ~/.ros(小知识:在文件目录下ctrl+H可以切换隐藏文件夹的显示与否)
ls看下目录中是否有生成的map文件,复制出来
cd ~/.ros
cp map.pbstream ../catkin_ws
然后将pbstream文件转pgm,yaml文件:
rosrun cartographer_ros cartographer_pbstream_to_ros_map -map_filestem=/home/zzr/carto_ws/savemap -pbstream_filename=/home/zzr/carto_ws/map.pbstream -resolution=0.05