https://blog.csdn.net/ckkboy/article/details/100538093
https://blog.csdn.net/weixin_40599145/article/details/89788543
http://ardupilot.org/dev/docs/ros-cartographer-slam.html?highlight=cartographer
https://blog.csdn.net/answerMack/article/details/88530410
https://blog.csdn.net/zbrj12345/article/details/79752221
https://www.cnblogs.com/zxouxuewei/p/6140710.html
https://blog.csdn.net/huapiaoxiang21/article/details/83753358
sudo usermod -aG dialout ghost