安装好 Ubuntu 系统 Desktop 版
http://releases.ubuntu.com/14.04/ubuntu-14.04.5-desktop-amd64.iso
将软件升级至最新
sudo apt dist-upgrade
升级软件列表
sudo apt-get update
安装 vim
sudo apt-get install vim -y
安装 ROS 系统 http://wiki.ros.org/indigo/Installation/Ubuntu
sudo sh -c ‘echo “deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main” > /etc/apt/sources.list.d/ros-latest.list’
sudo apt-key adv –keyserver hkp://ha.pool.sks-keyservers.net:80 –recv-key 421C365BD9FF1F717815A3895523BAEEB01FA116
sudo apt-get update
sudo apt-get install ros-indigo-desktop-full
sudo rosdep init
rosdep update
echo “source /opt/ros/indigo/setup.bash” >> ~/.bashrc
source ~/.bashrc
sudo apt-get install python-rosinstall
安装 SLAM_Gmapping
sudo apt-get install ros-indigo-sparse-bundle-adjustment
安装 依赖g++
sudo apt-get install g++
安装tf
sudo apt-get install ros-indigo-tf
安装 libeigen3
sudo apt-get install libeigen3-dev
install map_server
sudo apt-get install ros-indigo-map-server
安装 karto
git clone https://github.com/Summer-Qing/SLAM_Gmapping.git
安装 turtlebot
sudo apt-get update
sudo apt-get install ros-indigo-turtlebot ros-indigo-turtlebot-apps ros-indigo-turtlebot-interactions ros-indigo-turtlebot-simulator ros-indigo-kobuki-ftdi ros-indigo-rocon-remocon ros-indigo-rocon-qt-library ros-indigo-ar-track-alvar-msgs
安装 sick 20m 激光
sudo apt-get install ros-indigo-lms1xx
雷达的设置 参考博文： https://blog.csdn.net/Fourier_Legend/article/details/81319536