环境 : ubuntu14.04 + ros indigo
1. 我选用amcl 包进行导航的。下在导航包 http://download.csdn.net/download/v7xyy/10227870
2. 利用hokoyo建的地图进行导航
roslaunch turtlebot_bringup minimal.launch
roslaunch turtlebot_navigation amcl_demo.launch map_file:=/home/xx/map/mymap.yaml
roslaunch turtlebot_rviz_launchers view_navigation.launch
如果不能成功 需要在mymap.yaml 文件下添加一个绝对路径 image: /home/xx/map/mymap.pgm