为了方便离线调试，把cartographer的一个demo包拆成了三个，可以方面用于开始建图、停止建图、纯定位等功能。
服务端
<launch><node name="cartographer_grpc_server" pkg="cartographer_ros"type="cartographer_grpc_server.sh" args="-configuration_directory $(find cartographer_ros)/configuration_files-configuration_basename backpack_2d_server.lua"></node></launch>
客户端
<launch><param name="/use_sim_time" value="true" /><node name="robot_state_publisher" pkg="robot_state_publisher"type="robot_state_publisher" /><param name="robot_description"textfile="$(find cartographer_ros)/urdf/backpack_2d.urdf" /><node name="cartographer_grpc_node" pkg="cartographer_ros"type="cartographer_grpc_node" args="-client_id CLIENT_ID-configuration_directory $(find cartographer_ros)/configuration_files-configuration_basename backpack_2d_peak.lua-server_address 192.168.1.12:50051"output="screen"><remap from="echoes" to="horizontal_laser_2d" /></node><node name="rviz" pkg="rviz" type="rviz" required="true"args="-d $(find cartographer_ros)/configuration_files/demo_2d.rviz" /></launch>
数据包端
<launch><param name="/use_sim_time" value="true" /><node name="playbag" pkg="rosbag" type="play"args="--clock $(arg bag_filename)" /></launch>