1、gazebo环境搭建
参考上一篇文章https://blog.csdn.net/love1055259415/article/details/80805156
2、gazebo下gmapping的使用
顺序执行以下命令,先后roslaunch打开 turtlebot_world、gmapping_demo、view_navigation、keyboard_telep.launch
roslaunch turtlebot_gazebo turtlebot_world.launch
roslaunch turtlebot_gazebo gmapping_demo.launch
roslaunch turtlebot_rviz_launchers view_navigation.launch
roslaunch turtlebot_teleop keyboard_teleop.launch
3、