在gazebo中运行turtlebot模拟gmapping过程
1.启动Gazebo并加载机器人、环境模型
roslaunch turtlebot_gazebo turtlebot_world.launch
2.启动键盘遥控节点
roslaunch turtlebot_teleop keyboard_teleop.launch --screen
3.运行gmapping
roslaunch turtlebot_gazebo gmapping_demo.launch
运用键盘按键进行图像采集
4.开启rviz观察建图过程
roslaunch turtlebot_rviz_launchers view_navigation.launch