虚拟机：Ubuntu18.04测试gazebo-gmapping

一、创建功能包

二、克隆gmapping

三、克隆tutorials

四、显示-建图-保存地图

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一、创建功能包

mkdir -p catkin_ws/src

二、克隆gmapping：建图导航相关包安装方法

cd ~/catkin_ws/src/
git clone https://gitee.com/bingda-robot/robot_navigation.git
cd ~/catkin_ws/
catkin_make

三、克隆tutorials：

catkin_ws/src终端下：
git clone https://gitee.com/bingda-robot/bingda_tutorials

四、显示-建图-保存地图

4.1安装键盘控制包：

sudo apt-get install ros-melodic-teleop-twist-keyboard

4.2运行gazebo

catkin_ws$ source devel/setup.bash 
catkin_ws$ roslaunch bingda_tutorials simulation_robot.launch 

4.3运行键盘控制节点

rosrun teleop_twist_keyboard teleop_twist_keyboard.py

4.3启动gmapping

roslaunch robot_navigation gmapping.launch simulation:=true

//缺少给mapping包：sudo apt install ros-melodic-gmapping

4.4打开rviz，add-map

4.5保存地图：

rosrun map_server map_saver -f mymap
//安装： sudo apt install ros-melodic-map-server