先驅動雷達
$roslaunch rslidar_pointcloud rs_lidar_16.launch
再執行pointcloud_to_laserscan節點將三維資料轉化成二維
$ roslaunch pointcloud_to_laserscan point_to_scan.launch
最後執行cartographer
~/cartographer_ws$ source install_isolated/setup.bash
$roslaunch cartographer_ros cartographer_demo_rslidar.launch
launc**件：
"> ！！注意雷達資料經過轉換後這裡是scan
include "map_builder.lua"
include "trajectory_builder.lua"
options =
map_builder.use_trajectory_builder_2d = true
trajectory_builder_2d.submaps.num_range_data = 35
trajectory_builder_2d.min_range = 0.3
trajectory_builder_2d.max_range = 8.
trajectory_builder_2d.missing_data_ray_length = 1.
trajectory_builder_2d.use_imu_data = false
trajectory_builder_2d.use_online_correlative_scan_matching = true
trajectory_builder_2d.real_time_correlative_scan_matcher.linear_search_window = 0.1
trajectory_builder_2d.real_time_correlative_scan_matcher.translation_delta_cost_weight = 10.
trajectory_builder_2d.real_time_correlative_scan_matcher.rotation_delta_cost_weight = 1e-1
pose_graph.optimization_problem.huber_scale = 1e2
pose_graph.optimize_every_n_nodes = 35
pose_graph.constraint_builder.min_score = 0.65
return options
雷達自身帶有rslidar frame，不需要再另外構建tf關係，可以直接將traking frame設定為rslidar，完成手持雷達建圖。
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