目前有一个2D激光雷达，自己控制小车运行一段时间，离线获取到激光雷达数据后运行如下代码进行离线建图。

roslaunch cartographer_ros demo_revo_lds.launch bag_filename:=/home/firefly/AutoCar/data/rplidar_s2/2025-01-08-02-08-33.bag

实际效果如下

demo_levo_lds.lua文件

<launch>
  <param name="/use_sim_time" value="true" />

  <node name="cartographer_node" pkg="cartographer_ros"
      type="cartographer_node" args="
          -configuration_directory $(find cartographer_ros)/configuration_files
          -configuration_basename revo_lds.lua"
      output="screen">
    <remap from="scan" to="scan" />
  </node>
  
  <node name="playbag" pkg="rosbag" type="play"
        args="--clock $(arg bag_filename)" />

  <node name="rviz" pkg="rviz" type="rviz" required="true"
      args="-d $(find cartographer_ros)/configuration_files/demo_2d.rviz" />

</launch>

2025-1-9-20-15 更新一下最新的建图结果，看起来还可以

参考:
Cartographer从小白到跑通再到调试 天坑错误集（持续更新)