cartographer保存地图

使用脚本保存

cartographer提供了将地图保存为pbstream格式的服务和转变为ros格式的功能包

#!/bin/bash

map_dir="${HOME}/file_path"
map_name="map_name"

#finish trajectory
rosservice call /finish_trajectory 0

#save pbsream
rosservice call /write_state "{filename: '$map_dir/$map_name.pbstream'}"

#pbstream to map
rosrun cartographer_ros cartographer_pbstream_to_ros_map \
-pbstream_filename=$map_dir/$map_name.pbstream \
-map_filestem=$map_dir/$map_name

脚本可执行权限

赋予脚本可执行文件

chmod +x ./script_name.sh

运行脚本

./script_name.sh