cartographer保存地图

本文主要是介绍cartographer保存地图，希望对大家解决编程问题提供一定的参考价值，需要的开发者们随着小编来一起学习吧！

参考链接

https://www.ncnynl.com/archives/201904/2915.html

操作步骤

1. 不再接受进一步数据

rosservice call /finish_trajectory 0

2. 序列化保存其当前状态

rosservice call /write_state "{filename: '${HOME}/Downloads/mymap.pbstream'}"

3. 将pbstream转换为pgm和yaml

rosrun cartographer_ros cartographer_pbstream_to_ros_map -map_filestem=${HOME}/Downloads/mymap -pbstream_filename=${HOME}/Downloads/mymap.pbstream -resolution=0.05

生成对应的pgm和yaml，放于${HOME}/Downloads/mymap目录下

这是建好后保存的地图

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