@GaHoo 请问一下，我也遇到了rqtservce找不到finishtrajectory这个问题，报了一堆蓝字，也有红错，请问您是怎么解决的呢？
Posts made by 星之卡比
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RE: 谷歌cartographer使用速腾聚创3d激光雷达数据进行三维建图posted in 激光雷达
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RE: google激光雷达slam算法Cartographer的安装及bag包demo测试posted in 产品服务
大佬求助，我在执行完第八步以后，出现了如下报错，但是目录下却生成了pgm和yaml文件，不知道有没有问题？
================================================================================REQUIRED process [cartographer_assets_writer-1] has died!
process has finished cleanly
log file: /home/starskabi/.ros/log/4d9f46d4-bf3d-11ea-8f3f-d8cb8a5b2081/cartographer_assets_writer-1*.log
Initiating shutdown!