使用激光雷达（rplidar A2）和 google cartographer_ros算法包建图（以及转换为ｙａｍｌ文件）

一．下载必要的cartographer依赖以及ＳＤＫ （引用自参照网址: https://community.bwbot.org/topic/136/google%E6%BF%80%E5%85%89%E9%9B%B7%E8%BE%BEslam%E7%AE%97%E6%B3%95cartographer%E7%9A%84%E5%AE%89%E8%A3%85%E5%8F%8Abag%E5%8C%85demo%E6%B5%8B%E8%AF%95/2）

１．安装依赖包

sudo apt-get update
sudo apt-get install -y \
    cmake \
    g++ \
    git \
    google-mock \
    libboost-all-dev \
    libcairo2-dev \
    libeigen3-dev \
    libgflags-dev \
    libgoogle-glog-dev \
    liblua5.2-dev \
    libprotobuf-dev