官方文档：
Running Cartographer ROS on a demo bag — Cartographer ROS documentation
Running Cartographer ROS on a demo bag
Now that Cartographer and Cartographer’s ROS integration are installed, you can download example bags (e.g. 2D and 3D backpack collections of the Deutsches Museum) to a known location, in this case ~/Downloads, and use roslaunch to bring up the demo.
The launch files will bring up roscore and rviz automatically.
Warning：
When you want to run cartographer_ros, you might need to source your ROS environment by running source install_isolated/setup.bash first (replace bash with zsh if your shell is zsh)
这个很重要！一定要先运行，不然就报错啦！
source install_isolated/setup.bashDeutsches Museum
2D：
Download and launch the 2D backpack demo:
wget -P ~/Downloads https://storage.googleapis.com/cartographer-public-data/bags/backpack_2d/cartographer_paper_deutsches_museum.bag
roslaunch cartographer_ros demo_backpack_2d.launch bag_filename:=${HOME}/Downloads/cartographer_paper_deutsches_museum.bag注意下载 bag 保存的路径~
结果展示如下：
此时活跃的话题：
3D：
Download and launch the 3D backpack demo:
wget -P ~/Downloads https://storage.googleapis.com/cartographer-public-data/bags/backpack_3d/with_intensities/b3-2016-04-05-14-14-00.bag
roslaunch cartographer_ros demo_backpack_3d.launch bag_filename:=${HOME}/Downloads/b3-2016-04-05-14-14-00.bag结果展示如下：
此时活跃的话题：
