xx
mapping
地图创建

## build ##
sudo apt-get update
sudo apt-get install -y python-wstool python-rosdep ninja-build

src/cartographer-1.0.0/scripts/install_proto3.sh
sudo rosdep init
rosdep update
rosdep install --from-paths src --ignore-src --rosdistro=${ROS_DISTRO} -y
catkin_make_isolated --install --use-ninja -j3



---------------------------------------------
测试：
source install_isolated/setup.bash
 
roslaunch cartographer_ros demo_hokuyo_xx.launch 
 
rosrun map_server map_saver -f map/mymap1

roslaunch cartographer_ros demo_velodyne_2d.launch