安装依赖

1. 安装move-base相关功能包：

sudo apt install ros-kinetic-move-base ros-kinetic-move-base-msgs ros-kinetic-move-base-flex ros-kinetic-move-base-to-manip

2. 安装navigation

sudo apt install ros-kinetic-navigation ros-kinetic-navigation-stage ros-kinetic-navigation-experimental  ros-kinetic-navigation-tutorials ros-kinetic-navigation-layers

如果出现下面问题的时候，

Unpacking ros-kinetic-navigation-tutorials (0.2.3-0xenial-20190320-215733-0800) ...
Errors were encountered while processing:
 /var/cache/apt/archives/ros-kinetic-assisted-teleop_0.2.1-0xenial-20190320-212004-0800_amd64.deb
E: Sub-process /usr/bin/dpkg returned an error code (1)

可以参考文章：https://blog.csdn.net/shanpenghui/article/details/88963178

3. 安装global-planner

sudo apt install ros-kinetic-global-planner

4. 安装cost-map

sudo apt install ros-kinetic-cost-map ros-kinetic-costmap-cspace ros-kinetic-cost-map-msgs ros-kinetic-cost-map-visualisations ros-kinetic-costmap-2d ros-kinetic-costmap-cspace-msgs ros-kinetic-costmap-prohibition-layer ros-kinetic-costmap-converter ros-kinetic-cost-map-cv ros-kinetic-costmap-queue ros-kinetic-cost-map-core ros-kinetic-cost-map-demos ros-kinetic-cost-map-ros

5. 安装teb-local-planner

sudo apt install ros-kinetic-teb-local-planner ros-kinetic-teb-local-planner-tutorials

6. 安装gmapping

sudo apt install ros-kinetic-slam-gmapping ros-kinetic-gmapping