先进行简单的演练:
roslaunch turtlebot3_fake turtlebot3_fake.launch
roslaunch turtlebot3_teleop turtlebot3_teleop_key.launch
//启动gazebo
roslaunch turtlebot3_gazebo turtlebot3_world.launch
//启动slam
roslaunch turtlebot3_slam turtlebot3_slam.launch slam_methods:=gmapping
//启用键盘控制
roslaunch turtlebot3_teleop turtlebot3_teleop_key.launch
//保存地图
rosrun map_server map_saver -f ~/map