截止到19年7月16号，该算法已经被ros集成了功能包，使用

sudo apt-get install ros-kinetic-cartographer*

安装即可。

测试bag文件：

2D数据：
https://storage.googleapis.com/cartographer-public-data/bags/backpack_2d/cartographer_paper_deutsches_museum.bag

roslaunch cartographer_ros demo_backpack_2d.launch bag_filename:=${HOME}/Downloads/cartographer_paper_deutsches_museum.bag

3D数据：
https://storage.googleapis.com/cartographer-public-data/bags/backpack_3d/b3-2016-04-05-14-14-00.bag

roslaunch cartographer_ros demo_backpack_3d.launch bag_filename:=${HOME}/Downloads/backpack_3d/b3-2016-04-05-14-14-00.bag

注意：此处文件存放目录不能包含中文目录，否则会出现如下问题。

Invalid <node> tag: 'ascii' codec can't decode byte 0xe4 in position 8: ordinal not in range(128). 

Node xml is <node args="--clock $(arg bag_filename)" name="playbag" pkg="rosbag" type="play"/>
The traceback for the exception was written to the log file