1. remap的解释

For example, you are given a node that says it subscribes to the "chatter" topic, but you only have a node that publishes the "hello" topic. They are the same type, and you want to pipe your "hello" topic into the new node which wants "chatter" by simply:

所以cartographer_ros中的remap应该是remap from=“scan” to=“scan”。因为目前hokuyo_node和LMS1XX中发布的都是sensor_msg::LaserScan消息类型。

 

2.urdf中的link的name要对应到sensor_msg::LaserScan消息的frame_id

目前hokuyo_node和LMS1XX中的消息的frame_id 都是设置为"laser"

 

3.点云的保存：

 

4.MOOC上仿真的命令

roslaunch robot_sim_demo robot_spawn.launch

rosrun robot_sim_demo robot_keyboard_teleop.py