下面介绍使用Rplidar a1激光雷达进行gmapping建图
安装依赖包
sudo apt-get install ros-indigo-serial ros-indigo-turtlebot-rviz-launchers
mkdir -p ~/dashgo_ws/src
cd ~/dashgo_ws/src
## dashgo SLAM版本
git clone https://github.com/EAIBOT/dashgo.git
cd dashgo
git checkout slam_01
## 激光雷达rplidar 一代驱动
git clone https://github.com/robopeak/rplidar_ros.git
cd rplidar_ros
git checkout 1.0