TODO：gazebo仿真环境的使用，gmapping建图、cartographer建图实验等

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、