本文介绍了在ROS环境中，如何通过`finish_trajectory`服务完成轨迹，生成`.pbstream`文件，然后将其转换为具有0.05分辨率的二维栅格地图的过程。
1，完成轨迹，不再接受数据
rosservice call /finish_trajectory 0
2，生成.pbstream文件
rosservice call /write_state "{filename: '${HOME}/Downloads/mymap.pbstream'}"
3，把.pbstream文件转化为二维栅格地图
rosrun cartographer_ros cartographer_pbstream_to_ros_map -map_filestem=${HOME}/Downloads/mymap -pbstream_filename=${HOME}/Downloads/mymap.pbstream -resolution=0.05
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