@374870361
void SlamGmapping::startLiveSlam() 里面的内容，好像是这一块，好久没搞了

// sst_ = this->create_publisher<nav_msgs::msg::OccupancyGrid>("map", rclcpp::SystemDefaultsQoS()); sstm_ = this->create_publisher<nav_msgs::msg::MapMetaData>("map_metadata", rclcpp::SystemDefaultsQoS()); scan_filter_sub_ = std::make_shared<message_filters::Subscriber<sensor_msgs::msg::LaserScan>> (node_, "scan", rclcpp::SensorDataQoS().get_rmw_qos_profile()); sst_ = this->create_publisher<nav_msgs::msg::OccupancyGrid>("map", rclcpp::QoS(rclcpp::QoSInitialization::from_rmw(rmw_qos_profile_system_privated), rmw_qos_profile_system_privated)); // sub_ = this->create_subscription<sensor_msgs::msg::LaserScan>( // "scan", rclcpp::SensorDataQoS(), // std::bind(&SlamGmapping::laserCallback, this, std::placeholders::_1));

我现在是使用 cartographer 来建图了，感觉也挺不错的