cartographer实现切换地图功能

主要功能

    cartographer没有提供切换地图功能，本博客基于cartographer源码提供了切换地图功能的封装。具体措施如下：

ros2 service call /finish_trajectory cartographer_ros_msgs/srv/FinishTrajectory "{trajectory_id: 1}"

ros2 service call /delete_trajectory cartographer_ros_msgs/srv/DeleteTrajectory "{trajectory_id: 0}"

ros2 service call /load_state_from_file cartographer_ros_msgs/srv/LoadStateFromFile "{file_path: '/opt/beefast/map/2024-10-17_19-26-31.pbstream', load_frozen_state: true}"


ros2 service call /start_trajectory cartographer_ros_msgs/srv/StartTrajectory "{
  configuration_directory: '/opt/beefast/config/',
  configuration_basename: 'cartographer_localization.lua',
  use_initial_pose: true,
  initial_pose: {
    position: {
      x: 0.0,
      y: 0.0,
      z: 0.0
    },
    orientation: {
      x: 0.0,
      y: 0.0,
      z: 0.0,
      w: 1.0
    }
  },
  relative_to_trajectory_id: 2
}"

ros2 topic pub /beefast/navigation std_msgs/msg/String data:\ \'change_map\'\  --once