turtlebot 利用cartographer 建图

1、假设你已经成功编译cartographer, cartographer_ros, cartographer_turtlebot, ceres_solver
2、成功安装雷达驱动
3、turtlebot_urg_lidar_2d.launch 里面的内容

<launch>
  <param name="urg_node/frame_id" value="plate_top_link" />
  <node name="urg_node" pkg="urg_node" type="urg_node" />

   <node name="rviz" pkg="rviz" type="rviz" required="true"
   args="-d $(find cartographer_ros)/configuration_files/demo_2d.rviz" />

  <include file="$(find cartographer_turtlebot)/launch/turtlebot.launch">
    <arg name="configuration_basename" value="turtlebot_urg_lidar_2d.lua" />
  include>
launch>

4、运行

cd cartographer
source devel_isolated/setup.bash
roslaunch cartographer_turtlebot turtlebot_urg_lidar_2d.launch