1）[Remote PC] 启动roscore
$ roscore
2）[TurBot3] 启动turbot3
$ roslaunch turbot3_bringup minimal.launch
3）[TurBot3] 启动karto算法
$ roslaunch turbot3_slam karto_demo.launch
4）[Remote PC] 启动Rviz
$ roslaunch turbot3_rviz navigation_rviz.launch
5）[Remote PC] 启动键盘操作
$ roslaunch turbot3_teleop keyboard.launch
移动机器人进行建图
6）[TurBot3] 完成建图后运行地图保存节点
$ rosrun map_server map_saver -f ~/map
map.pgm和map.yaml 在 ~/ 目录里创建