搭建的仿真环境
roslaunch /home/jianzhuozhu/catkin_ws/src/Active-ORB-SLAM2-master/Examples/ROS/ORB_SLAM2/launch/turtlebot_world.launch
roslaunch turtlebot_teleop keyboard.launch
启动ORB_slam2的工程代码,打开视觉里程计+octomap建图+OMPL(RRT*)路径规划
cd catkin_ws/src/Active-ORB-SLAM2-master/
./kinect.sh
启动PID局部控制器,来控制小车的运动
roslaunch path_follower path_follower.launch