input topic: state_estimation pointcloud
output_topic: 3Dmap_output
step1. Download the repository to your ROS workspace: catkin_ws/src
step2. Make：catkin_make
step3. Run: roslaunch mapping3D mapping3D.launch
step4. SCTL + C结束程序,自动保存地图到mapData目录下面.
rqt_graph:
