关于 ROS2 cartographer建图的问题

[157763095]

看了小鱼的《动手学ROS2》10.5 配置Fishbot进行建图文档，根据里面的步骤新建了文档，编译都能正常完成，也source了，但是运行launch文件的话会出现file 'cartographer.launch.py' was not found in the share directory of package 'fishbot_cartographer' which is at '/home/wu/cmdvel/install/fishbot_cartographer/share/fishbot_cartographer' 是找不到这个文件吗，
1 如何解决
2 如果是要读取真实激光fram_id =laser的数据要如何设置，不是gazebo