cartographer 保存地图

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建完图后：

rosservice call /finish_trajectory 0

#保存pbstream
rosservice call /write_state /home/qixianyu/jhz_map.pbstream

#转换为ros地图
rosrun cartographer_ros cartographer_pbstream_to_ros_map -map_filestem=/home/qixianyu/123.png  -pbstream_filename=/home/qixianyu/carto_map.pbstream

插件被屏蔽了还是咋的，给别人回复不了！