调试工具

rqt，可查看topic、发送services（目标点设置）等众多功能，命令rqt
动态参数调整，命令rosrun rqt_reconfigure rqt_reconfigure
单独打开rviz，rviz -d catkin_ws/src/navigation/rviz/navigation.rviz
保存地图，
rosservice call /finish_trajectory 0
rosservice call /write_state "{filename: '/home/ros/map/map.pbstream', include_unfinished_submaps: true}"
rosrun cartographer_ros cartographer_pbstream_to_ros_map -map_filestem=/home/ros/map/map -pbstream_filename=/home/ros/map/map.pbstream -resolution=0.01