Turtlebot2基于kinect V1实现gmapping建图(3)

按照参考：https://www.ncnynl.com/archives/201705/1556.html

执行：

roslaunch turbot_slam gmapping_demo.launch

出现如下问题：

[ INFO] [1556356699.587804099]: No matching device found.... waiting for devices. Reason: std::__cxx11::string openni2_wrapper::OpenNI2Driver::resolveDeviceURI(const string&) @ /tmp/binarydeb/ros-kinetic-openni2-camera-0.4.2/src/openni2_driver.cpp @ 737 : Invalid device number 1, there are 0 devices connected.
[ INFO] [1556356699.843488628]: Using plugin "static_layer"
[ INFO] [1556356699.871358640]: Requesting the map...
[ INFO] [1556356702.588162878]: No matching device found.... waiting for devices. Reason: std::__cxx11::string openni2_wrapper::OpenNI2Driver::resolveDeviceURI(const string&) @ /tmp/binarydeb/ros-kinetic-openni2-camera-0.4.2/src/openni2_driver.cpp @ 737 : Invalid device number 1, there are 0 devices connected.
[ INFO] [1556356705.588525191]: No matching device found.... waiting for devices. Reason: std::__cxx11::string openni2_wrapper::OpenNI2Driver::resolveDeviceURI(const string&) @ /tmp/binarydeb/ros-kinetic-openni2-camera-0.4.2/src/openni2_driver.cpp @ 737 : Invalid device number 1, there are 0 devices connected.
解决方案：https://www.ncnynl.com/archives/201609/810.html

在终端运行此命令：

TURTLEBOT_3D_SENSOR=kinect

继续按照slam教程执行：