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turtlebot3建图与导航建图导航建图1.启动tb3模型和仿真环境export TURTLEBOT3_MODEL=burger ## TURTLEBOT3_MODEL有burger, waffle或waffle_pi三种roslaunch turtlebot3_gazebo turtlebot3_world.launch2.打开新终端，启动slam建图export TURTLEBOT3_MODEL=burger ## TURTLEBOT3_MODEL有burger, waffle

RTAB-MAP学习测试1.安装依赖2.安装RTAB-MAP3.终端打开RTAB-MAP3.测试RTAB-MAP3.1常规双目数据集测试1.安装依赖我自己的电脑是：Ubuntu 16.04，且已经源码安装好了opencv/g2o/gtsam等库。可参考：https://github.com/introlab/rtabmap/wiki/Installation#ubuntu$ sudo apt-get update$ sudo apt-get install libsqlite3-dev libpc