https://google-cartographer-ros.readthedocs.io/en/latest/
https://github.com/googlecartographer/cartographer_ros
環境 ： ubuntu14.04 + ros indigo
1. 下載hokuyo 驅動節點
sudo apt-get install ros-indigo-hokuyo-node
2. 修改 /cartographer_ws/src/cartographer_ros/cartographer_ros/configuration_files下的 revo_lds.lua 配置檔案如下：

include "map_builder.lua"
include "trajectory_builder.lua"

options = {
  map_builder = MAP_BUILDER,
  trajectory_builder = TRAJECTORY_BUILDER,
  map_frame = "map",
  tracking_frame = "laser",
  published_frame = "laser",
  odom_frame = "odom",
  provide_odom_frame = true,
  use_odometry = false,
  num_laser_scans = 1
 
,
  num_multi_echo_laser_scans = 0,
  num_subdivisions_per_laser_scan = 1,
  num_point_clouds = 0,
  lookup_transform_timeout_sec = 0.2,
  submap_publish_period_sec = 0.3,
  pose_publish_period_sec = 5e-3,
  trajectory_publish_period_sec = 30e-3,
  rangefinder_sampling_ratio = 1.,
  odometry_sampling_ratio = 1.
 
,
  imu_sampling_ratio = 1.,
}

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

SPARSE_POSE_GRAPH.optimization_problem.huber_scale = 1e2
SPARSE_POSE_GRAPH.optimize_every_n_scans = 35
SPARSE_POSE_GRAPH.constraint_builder.min_score = 0.65

return options

3.修改 /cartographer_ws/src/cartographer_ros/cartographer_ros/launch 下的 demo_revo_lds.launch如下：

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

4 . catkin_make_isolated --install --use-ninja

5.啟動
1) roscore
2) rosrun hokuyo_node hokuyo_node
3) 在工作空間下 source install_isolated/setup.bash
roslaunch cartographer_ros demo_revo_lds.launch
4)儲存地圖 rosrun map_server map_saver -f map/mymap