to run start_trajectory_main.cc, use this launch file

init_pose_test.launch

<launch>
  <arg name="trj" default="1" /> 
  <!-- modify here -->
  <arg name="pbstream" default="/media/dyros-data/map_files/pbstream/180831_dyrosvehicle_velo_imu_avm1.bag.pbstream" /> 

  <node pkg="rosservice" type="rosservice" name="finish_trajectory" args="call /finish_trajectory $(arg trj)"/> 
  
  <!-- ed: New Trajectory with relative pose -->
  <node pkg="cartographer_ros" type="cartographer_start_trajectory" name="cartographer_start_trajectory" output="screen" args="
             -configuration_directory $(find cartographer_ros)/configuration_files
             -configuration_basename dyros_settings_test_localization.lua
             -pbstream_filename $(arg pbstream)">
  </node>
</launch>