緊接着上篇cartographer的第五步，由於博客編輯器有點問題沒有寫完，
5/數據下載測試Running the demos
Now that Cartographer and Cartographer’s ROS integration are installed, download the example bags (e.g. 2D and 3D backpack collections of the Deutsches Museum) to a known location, in this case ~/Downloads, and use roslaunch to bring up the demo:
Download the 2D backpack example bag.
wget -P ~/Downloads https://storage.googleapis.com/cartographer-public-data/bags/backpack_2d/cartographer_paper_deutsches_museum.bag
Launch the 2D backpack demo.
roslaunch cartographer_ros demo_backpack_2d.launch bag_filename:=${HOME}/Downloads/cartographer_paper_deutsches_museum.bag
Download the 3D backpack example bag.
wget -P ~/Downloads https://storage.googleapis.com/cartographer-public-data/bags/backpack_3d/b3-2016-04-05-14-14-00.bag
Launch the 3D backpack demo.
roslaunch cartographer_ros demo_backpack_3d.launch bag_filename:=${HOME}/Downloads/b3-2016-04-05-14-14-00.bag
Download the Revo LDS example bag.
wget -P ~/Downloads https://storage.googleapis.com/cartographer-public-data/bags/revo_lds/cartographer_paper_revo_lds.bag
Launch the Revo LDS demo.
roslaunch cartographer_ros demo_revo_lds.launch bag_filename:=${HOME}/Downloads/cartographer_paper_revo_lds.bag
Download the PR2 example bag.
wget -P ~/Downloads https://storage.googleapis.com/cartographer-public-data/bags/pr2/2011-09-15-08-32-46.bag
Launch the PR2 demo.
roslaunch cartographer_ros demo_pr2.launch bag_filename:=${HOME}/Downloads/2011-09-15-08-32-46.bag
Download the Taurob Tracker example bag.
wget -P ~/Downloads https://storage.googleapis.com/cartographer-public-data/bags/taurob_tracker/taurob_tracker_simulation.bag
Launch the Taurob Tracker demo.
roslaunch cartographer_ros demo_taurob_tracker.launch bag_filename:=${HOME}/Downloads/taurob_tracker_simulation.bag
最後給出一些我編譯調試時使用的一些網址：
谷歌Cartographer學習（1）-快速安裝測試
cartographer_ros+Ubuntu14.04安裝
Cartographer ROS Integration
chengwei0019的安裝方法
ROS_Kinetic_27 在ROS中使用Cartographer進行SLAM
How to install Google Ceres solver and 1DSfM on Ubuntu 14.04
Cartographer系列之三——ROS中的安裝
【泡泡機器人原創專欄-Cartographer】Cartographer理論及實現淺析
cartographer_ros into IDE Debug