hokuyo地图创建（8）

使用hokuyo激光利用cartographer创建栅格地图。

1. 在cartographer_ros/launch 下创建demo_hokuyo_xx.launch

<launch>
  <param name="/use_sim_time" value="true" />

  <node name="cartographer_node" pkg="cartographer_ros"
      type="cartographer_node" args="
          -configuration_directory $(find cartographer_ros)/configuration_files
          -configuration_basename hokuyo_xx.lua"
      output="screen">
    <remap from="scan" to="/scan" />
  </node>

  <node name="cartographer_occupancy_grid_node" pkg="cartographer_ros"
      type="cartographer_occupancy_grid_node" args="-resolution 0.05" />

  <node name="rviz" pkg="rviz" type="rviz" required="true"
      args="-d $(find cartographer_ros)/configuration_files/demo_2d.rviz" />

</launch>

2. 在cartographer_ros/configuration_files下新建 hokuyo_xx.lua

include "map_builder.lua"
include "trajectory_builder.lua"

options = {