RPlidar学习

https://blog.csdn.net/WisdomXLH/article/details/80556795
odom base_link（底座上的坐标系） map 坐标系之间的关系
1 https://www.jianshu.com/p/c14c5b015444?utm_campaign=maleskine&utm_content=note&utm_medium=seo_notes&utm_source=recommendation
2 http://www.aiuxian.com/article/p-2097997.html