# 啓動激光雷達
roslaunch rplidar_ros rplidar.launch
# 可選操作，錄製數據
rosbag record /scan
# 啓動cartographer
roslaunch cartographer_ros demo_revo_lds.launch
# 完成軌跡, 不接受進一步的數據：
rosservice call /finish_trajectory 0
# 序列化保存其當前狀態：
rosservice call /write_state "{filename: '${HOME}/Downloads/mymap302.pbstream'}"
# 將pbstream轉換爲pgm和yaml
rosrun cartographer_ros cartographer_pbstream_to_ros_map -map_filestem=${HOME}/Downloads/mymap302 -pbstream_filename=${HOME}/Downloads/mymap302.pbstream -resolution=0.05