ubuntu16下利用map_server保存cartographer地图_map_server cartographer

最近学习slam建图，想将自己建的图保存下来，到网上找了一些教程，都说可以利用cartographer自带的service保存地图，步骤如下所示：

rosservice call /finish_trajectory 0
 
rosservice call /write_state /home/tmb/map/car2.pbstream
 
rosrun cartographer_ros cartographer_pbstream_to_ros_map -map_filestem=/home/tmb/map/car2 -pbstream_filename=/home/tmb/map/car2.pbstream -resolution=0.05

但是我第一步就报错了
 

rosservice call /finish_trajectory 0
ERROR: Unable to send request. One of the fields has an incorrect type:
  field stem must be of type str
 
srv file:
string stem

在网上也找不到解决办法，而且也没有/write_state这个service，因此直接利用map_server保存地图。

1.在工作空间下下载map_server

cd ~/study_ws/src
 
git clone https://github.com/HaoQChen/map_server.git

2.安装依赖

sudo apt-get  install libsdl2-image-dev libsdl2-image-2.0-0  libsdl-image1.2  libsdl-image1.2-dev

3.编译使用
 

cd ~/study_ws
 
catkin_make

成功

利用cartographer建图后

另起终端
 

mkdir map
 
cd map
 
source ~/study_ws/devel/setup.bash
 
rosrun map_server map_saver -f trees

随后即可在map文件夹下发现图片