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安装完cartography后，运行

roslaunch cartographer_ros demo_backpack_2d.launch bag_filename:=${HOME}/×××/bag/cartographer_paper_deutsches_musm.bag

出现

[FATAL] [1590630448.926035157]: Error opening file: /home/sundong/sundong/Exploring/cartographer/bag/cartographer_paper_deutsches_musm.bag
[ INFO] [1590630448.998609889]: I0528 09:47:28.000000 12045 submaps.cc:176] Added submap 1
[playbag-5] process has died [pid 12055, exit code 1, cmd /opt/ros/kinetic/lib/rosbag/play --clock /home/sundong/sundong/Exploring/cartographer/bag/cartographer_paper_deutsches_musm.bag __name:=playbag __log:=/home/sundong/.ros/log/2fcbad18-a085-11ea-83d1-90cdb648c685/playbag-5.log].
log file: /home/sundong/.ros/log/2fcbad18-a085-11ea-83d1-90cdb648c685/playbag-5*.log

原因是bag包地址没输入正确

换为：

roslaunch cartographer_ros demo_backpack_2d.launch bag_filename:=/home/sundong/Exploring/cartographer/bag/cartographer_paper_deutsches_museum.bag 

就没有出现error open file错误，但是后面那个错误还没有解决

[cartographer_node-3] process has died [pid 12346, exit code -6, cmd /home/sundong/catkin_ws/devel/lib/cartographer_ros/cartographer_node -configuration_directory /home/sundong/catkin_ws/src/cartographer_ros/cartographer_ros/configuration_files -configuration_basename backpack_2d.lua echoes:=horizontal_laser_2d __name:=cartographer_node __log:=/home/sundong/.ros/log/5dbcef16-a085-11ea-83d1-90cdb648c685/cartographer_node-3.log].
log file: /home/sundong/.ros/log/5dbcef16-a085-11ea-83d1-90cdb648c685/cartographer_node-3*.log