参考链接：https://blog.csdn.net/weixin_36976685/article/details/103834608

一、下载数据集

wget -P ~/Downloads https://storage.googleapis.com/cartographer-public-data/bags/backpack_2d/b2-2016-04-05-14-44-52.bag
wget -P ~/Downloads https://storage.googleapis.com/cartographer-public-data/bags/backpack_2d/b2-2016-04-27-12-31-41.bag

二、建图

roslaunch cartographer_ros offline_backpack_2d_zhan.launch bag_filenames:=${HOME}/Downloads/b2-2016-04-05-14-44-52.bag

三、纯定位测试

这里后面两个参数一个是上一步建好的地图，pbstream格式，另一个是数据集。也就是说，先用第一个数据集建图，建完图后用第二个数据集进行定位测试。
定位判断：看机器人在地图中的位置是否正确。经过一段时间，如果scan和map能匹配上，则定位成功。

roslaunch cartographer_ros demo_backpack_2d_localization_zhan.launch \
   load_state_filename:=${HOME}/Downloads/b2-2016-04-05-14-44-52.bag.pbstream \
   bag_filename:=${HOME}/Downloads/b2-2016-04-27-12-31-41.bag

四、配置文件

（1）offline_backpack_2d_zhan.launch

<launch>
  <arg name="bag_filenames"/>
  <arg name="no_rviz" default="false"/>
  <arg name="rviz_config" default="$(find cartographer_ros)/configuration_files/demo_2d.rviz"/>
  <arg name="configuration_directory" default="$(find cartographer_ros)/configuration_files"/>
  <arg name="configuration_basenames" default="backpack_2d_zhan.lua"/>
  <arg name="urdf_filenames" default="$(find cartographer_ros)/urdf/backpack_2d_zhan.urdf"/>
  <arg name="launch_prefix" default=""/>

  <remap from="echoes" to="horizontal_laser_2d"/>
  <include file="$(find cartographer_ros)/launch/offline_node.launch">
    <arg name="bag_filenames" value="$(arg bag_filenames)"/>
    <arg name="no_rviz" value="$(arg no_rviz)"/>
    <arg name="rviz_config" value="$(arg rviz_config)"/>
    <arg name="configuration_directory" value="$(arg configuration_directory)"/>
    <arg name="configuration_basenames" value="$(arg configuration_basenames)"/>
    <arg name="urdf_filenames" value="$(arg urdf_filenames)"/>
    <arg name="launch_prefix" value="$(arg launch_prefix)"/>
  </include>
</launch>

（2）backpack_2d_zhan.lua

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

options = {
  map_builder = MAP_BUILDER,
  trajectory_builder = TRAJECTORY_BUILDER,
  map_frame = "map",
  tracking_frame = "base_link",
  published_frame = "base_link",
  odom_frame = "odom",
  provide_odom_frame = true,
  publish_frame_projected_to_2d = false,
  use_pose_extrapolator = true,
  use_odometry = false,
  use_nav_sat = false,
  use_landmarks = false,
  num_laser_scans = 0,
  num_multi_echo_laser_scans = 1,
  num_subdivisions_per_laser_scan = 10,
  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.,
  fixed_frame_pose_sampling_ratio = 1.,
  imu_sampling_ratio = 1.,
  landmarks_sampling_ratio = 1.,
}

MAP_BUILDER.use_trajectory_builder_2d = true
TRAJECTORY_BUILDER_2D.num_accumulated_range_data = 10

return options

（3）backpack_2d_zhan.urdf

<robot name="cartographer_backpack_2d">
  <material name="orange">
    <color rgba="1.0 0.5 0.2 1" />
  </material>
  <material name="gray">
    <color rgba="0.2 0.2 0.2 1" />
  </material>

  <link name="imu_link">
    <visual>
      <origin xyz="0 0 0" />
      <geometry>
        <box size="0.06 0.04 0.02" />
      </geometry>
      <material name="orange" />
    </visual>
  </link>

  <link name="horizontal_laser_link">
    <visual>
      <origin xyz="0 0 0" />
      <geometry>
        <cylinder length="0.05" radius="0.03" />
      </geometry>
      <material name="gray" />
    </visual>
  </link>

  <link name="vertical_laser_link">
    <visual>
      <origin xyz="0 0 0" />
      <geometry>
        <cylinder length="0.05" radius="0.03" />
      </geometry>
      <material name="gray" />
    </visual>
  </link>

  <link name="base_link" />

  <joint name="imu_link_joint" type="fixed">
    <parent link="base_link" />
    <child link="imu_link" />
    <origin xyz="0 0 0" />
  </joint>

  <joint name="horizontal_laser_link_joint" type="fixed">
    <parent link="base_link" />
    <child link="horizontal_laser_link" />
    <origin xyz="0.1007 0 0.0558" />
  </joint>

  <joint name="vertical_laser_link_joint" type="fixed">
    <parent link="base_link" />
    <child link="vertical_laser_link" />
    <origin rpy="0 -1.570796 3.141593" xyz="0.1007 0 0.1814" />
  </joint>
</robot>

---

---

（4）demo_backpack_2d_localization_zhan.launch

<launch>
  <param name="/use_sim_time" value="true" />

  <param name="robot_description"
    textfile="$(find cartographer_ros)/urdf/backpack_2d_zhan.urdf" />

  <node name="robot_state_publisher" pkg="robot_state_publisher"
    type="robot_state_publisher" />

  <node name="cartographer_node" pkg="cartographer_ros"
      type="cartographer_node" args="
          -configuration_directory $(find cartographer_ros)/configuration_files
          -configuration_basename backpack_2d_localization_zhan.lua
          -load_state_filename $(arg load_state_filename)"
      output="screen">
    <remap from="echoes" to="horizontal_laser_2d" />
  </node>

  <node name="cartographer_occupancy_grid_node" pkg="cartographer_ros"
      type="cartographer_occupancy_grid_node" args="-resolution 0.05" />

  <node name="rviz" pkg="rviz" type="rviz" required="true"
      args="-d $(find cartographer_ros)/configuration_files/demo_2d.rviz" />
  <node name="playbag" pkg="rosbag" type="play"
      args="--clock $(arg bag_filename)" />
</launch>

（5）backpack_2d_localization_zhan.lua

include "backpack_2d_zhan.lua"

TRAJECTORY_BUILDER.pure_localization_trimmer = {
  max_submaps_to_keep = 3,
}
POSE_GRAPH.optimize_every_n_nodes = 20

return options