cartographer pbstream 转yaml

要将cartographer的pbstream文件转换为yaml文件，可以使用以下步骤：

1. 停止地图构建：使用命令`rosservice call /finish_trajectory 0`停止地图构建过程。\[2\]
2. 生成pbstream文件：使用命令`rosservice call /write_state "{filename: '${HOME}/catkin_google_ws/src/robot_slam_cartographer/map/carto_map.pbstream'}"`生成pbstream文件。\[2\]
3. 将pbstream转换为pgm和yaml文件：使用命令`rosrun cartographer_ros cartographer_pbstream_to_ros_map -map_filestem=${HOME}/catkin_google_ws/src/robot_slam_cartographer/map/myMapFile -pbstream_filename=${HOME}/catkin_google_ws/src/robot_slam_cartographer/map/carto_map.pbstream -resolution=0.05`将pbstream文件转换为pgm和yaml文件。\[2\]

这样，你就可以将cartographer的pbstream文件成功转换为yaml文件了。
#### 引用[.reference_title]
- *1* [cartographer离线利用pbstream生成ros标准格式地图](https://blog.csdn.net/windxf/article/details/119022418)[target="_blank" data-report-click={"spm":"1018.2226.3001.9630","extra":{"utm_source":"vip_chatgpt_common_search_pc_result","utm_medium":"distribute.pc_search_result.none-task-cask-2~all~insert_cask~default-1-null.142^v91^control_2,239^v3^insert_chatgpt"}} ] [.reference_item]
- *2* *3* [ROS学习（19）机器人SLAM功能包——cartographer](https://blog.csdn.net/u011832219/article/details/124911497)[target="_blank" data-report-click={"spm":"1018.2226.3001.9630","extra":{"utm_source":"vip_chatgpt_common_search_pc_result","utm_medium":"distribute.pc_search_result.none-task-cask-2~all~insert_cask~default-1-null.142^v91^control_2,239^v3^insert_chatgpt"}} ] [.reference_item]
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