cartographer保存ros格式地图

cartographer_ros提供了相应的节点，直接运行即可。

Build and install.

catkin_make_isolated --install --use-ninja
source install_isolated/setup.bash

建图过程中运行：

rosservice call /write_state ~/map/carto_map.pbstream 

生成.pbstream文件， 再调用下面的节点转为ros格式地图

rosrun cartographer_ros cartographer_pbstream_to_ros_map -map_filestem=/home/chenyi/map/carto_map -pbstream_filename=/home/chenyi/map/carto_map.pbstream -resolution=0.05

注意调用.pbstream文件路径要正确，如果改为~/map/carto_map.pbstream就会报错

*** Check failure stack trace: ***
    @     0x7f30706895cd  google::LogMessage::Fail()
    @     0x7f307068b433  google::LogMessage::SendToLog()
    @     0x7f307068915b  google::LogMessage::Flush()
    @     0x7f307068be1e  google::LogMessageFatal::~LogMessageFatal()
    @           0x47d62f  cartographer::io::ProtoStreamReader::ProtoStreamReader()
    @           0x47a2a1  cartographer_ros::(anonymous namespace)::Run()
    @           0x479458  main
    @     0x7f306ec0b830  __libc_start_main
    @           0x47a179  _start
    @              (nil)  (unknown)
Aborted (core dumped)

成功时是

I0627 09:45:41.103704 14040 pbstream_to_ros_map_main.cc:50] Loading submap slices from serialized data.
I0627 09:45:41.299626 14040 pbstream_to_ros_map_main.cc:70] Generating combined map image from submap slices.