安装ROS-Gazebo组件
sudo apt-get install ros-kinetic-gazebo-ros-pkgs ros-kinetic-gazebo-ros-control
安装turtlrbot
sudo apt-get install ros-kinetic-turtlebot*
启动仿真环境
roslaunch turtlebot_gazebo turtlebot_world.launch
打开键盘控制
roslaunch turtlebot_teleop keyboard_teleop.launch
运行rviz
roslaunch turtlebot_rviz_launchers view_robot.launch