在思岚A1上复现gmapping

软硬件条件

软件：Ubuntu 20.04，ROS noetic
硬件：RPLidar A1.

laser_scan_matcher通过源码安装

mkdir -p ~/catkin_ws/src
cd  ~/catkin_ws/src
git clone https://github.com/ccny-ros-pkg/scan_tools.git
cd ..
catkin_make