机器人slam导航学习笔记-gmapping安装

两种安装方式：1.apt install安装指定功能包；
2.直接下载该ros功能包源码到workspace；
workspace：catkin_ws
安装gmapping的依赖库：
sudo apt install ros-noetic-openslam-gmapping ros-nortic-gmapping
sudo apt remove ros-noetic-openslam-gmapping ros-nortic-gmapping
先安装后卸载。保留其依赖

切换到workspace目录：cd ~/catkin_ws/src/
下载slam_gmapping
git clone https://github.com/ros-perception/slam_gmapping.git
cd slam-gmapping
查看代码版本：git branch
应为melodic-devel
下载openslam_gmapping功能包源码：
git clone https://github.com/ros-perception/openslam_gmapping.git
编译：cd ~/catkin_ws/
catkin_make -DCATKIN_WHITELIST_PACKAGES=“openslam_gmapping”
catkin_make -DCATKIN_WHITELIST_PACKAGES=“gmapping”
下载gmapping官方数据集：
网址：
http://download.ros.org/data/amcl/?C=D;O=A
basic_localization_stage_indexed.bag

启动：
roslaunch gmapping slam_gmapping_pr2.launch
开一终端，播放数据集：
rosbag play basic_localization_stage_indexed.bag
开一终端，启动rviz：
rviz