ROS SLAM功能包应用方法–cartographer
胡春旭ros学习视频
6.机器人SLAM与自主导航
执行 rlaunch cartographer_ros cartographer_demo_rplidar.launch 命令时，会在终端报以下的错：
[FATAL] [1597906571.544697067, 2441.579000000]: F0820 14:56:11.000000 8188 map_by_time.h:43] Check failed: data.time > std::prev(trajectory.end())->first (621355992414490000 vs. 621355992414490000)
解决的办法如下：
将odometry_sampling_ratio = 1 改成 0.3.
即可