http://wiki.ros.org/turtlebot_gazebo/Tutorials/indigo/Gazebo%20Bringup%20Guide
1.下载依赖源码:
sudo apt-get install ros-kinetic-turtlebot ros-kinetic-turtlebot-apps ros-kinetic-turtlebot-interactions
ros-kinetic-turtlebot-simulator ros-kinetic-kobuki-ftdi
建图
2.打开gazebo世界
roslaunch turtlebot_gazebo turtlebot_world.launch
3.使用ros官方自带的gmapping算法建图
roslaunch turtlebot_gazebo gmapping_demo.launch
4.使用rviz查看 或 ./nav_rviz.sh
roslaunch turtlebot_rviz_launchers view_navigation.launch