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全文主要参考了turtlebot官方教程
GMapping建图
采用的是默认的虚拟环境
roslaunch turtlebot_gazebo turtlebot_world.launch也可以使用其他的环境
roslaunch turtlebot_gazebo turtlebot_world.launch world_file:=worlds/willowgarage.world建图
roslaunch turtlebot_gazebo gmapping_demo.launch
roslaunch turtlebot_rviz_launchers view_navigation.launch保存地图
roslaunch turtlebot_gazebo amcl_demo.launch map_file:=<full path to your map YAML file>导航
roslaunch turtlebot_gazebo turtlebot_world.launch
roslaunch turtlebot_gazebo amcl_demo.launch
roslaunch turtlebot_rviz_launchers view_navigation.launch