@buptvv 按照步骤3安装完成后就会有那个launch文件。 这个bag文件是我们自己录制的，所以launch文件根据这个bag的topic进行了调整。
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<launch>
<param name="/use_sim_time" value="true" />
<!-- <node pkg="tf" type="static_transform_publisher" name="base_laser_broadcaster" args="0 0 0 0 0 0 laserbase_footprint /base_footprint 20" /> -->
<include file="$(find cartographer_ros)/launch/rplidar_2d.launch" />
<node name="cartographer_node" pkg="cartographer_ros"
type="cartographer_node" args="
-configuration_directory
$(find cartographer_ros)/configuration_files
-configuration_basename xiaoqiang_rplidar_2d.lua"
output="screen">
<remap from="/odom" to="/xqserial_server/Odom" />
</node>
<node name="rviz" pkg="rviz" type="rviz" required="true"
args="-d $(find cartographer_ros)/configuration_files/rplidar_2d.rviz" />
<node name="playbag" pkg="rosbag" type="play"
args="--clock $(arg bag_filename)" />
</launch>
