slam command tool

cd imu_ws
source devel/setup.bash
ls -l /dev |grep ttyUSB
sudo chmod  /dev/ttyUSB0
rosrun imu_pb imu
roslaunch imu_pb imu.launch

cd rplidar_ws
ls -l /dev |grep ttyUSB
sudo chmod  /dev/ttyUSB1
source devel/setup.bash
roslaunch rplidar_ros hector_mapping_demo.launch
roslaunch rplidar_ros rplidar.launch

cd catkin_ws
source install_isolated/setup.bash
roslaunch cartographer_ros demo_revo_lds.launch(no imu)

roslaunch cartographer_ros rplidar_slam.launch (add imu)

catkin_make_isolated --install --use-ninja

deb http://mirrors.aliyun.com/ubuntu/ bionic main restricted universe multiverse
deb http://mirrors.aliyun.com/ubuntu/ bionic-security main restricted universe multiverse
deb http://mirrors.aliyun.com/ubuntu/ bionic-updates main restricted universe multiverse
deb http://mirrors.aliyun.com/ubuntu/ bionic-proposed main restricted universe multiverse
deb http://mirrors.aliyun.com/ubuntu/ bionic-backports main restricted universe multiverse
deb-src http://mirrors.aliyun.com/ubuntu/ bionic main restricted universe multiverse
deb-src http://mirrors.aliyun.com/ubuntu/ bionic-security main restricted universe multiverse
deb-src http://mirrors.aliyun.com/ubuntu/ bionic-updates main restricted universe multiverse
deb-src http://mirrors.aliyun.com/ubuntu/ bionic-proposed main restricted universe multiverse
deb-src http://mirrors.aliyun.com/ubuntu/ bionic-backports main restricted universe multiverse

catkin_make -DCATKIN_WHITELIST_PACKAGES=""        //单独编译功能包
catkin_make_isolated --install --use-ninja -DCATKIN_WHITELIST_PACKAGES=""     //单独编译功能包

rosrun tf view_frames
rosbag record -a
rosbag info ***.bag
rosbag play ***.bag

查看cartographer bag 数据record time ：
rosrun cartographer_ros cartographer_rosbag_validate -bag_filename /home/dd/test/2019-07-16-15-45-33.bag