在运行程序之前需要安装的功能包如下:
sudo apt-get install ros-melodic-controller-manager -y
sudo apt-get install ros-melodic-gazebo-ros-control -y
sudo apt-get install ros-melodic-effort-controllers -y
sudo apt-get install ros-melodic-joint-state-controller -y
sudo apt-get install ros-melodic-driver-base -y
sudo apt-get install ros-melodic-rtabmap-ros -y
sudo apt-get install ros-melodic-joy -y
sudo apt-get install ros-melodic-move-base -y
sudo apt-get install ros-melodic-mrpt* -y
sudo apt-get install ros-melodic-geographic-msgs -y
sudo apt-get install ros-melodic-map-server -y
sudo apt-get install ros-melodic-gmapping -y
sudo apt-get install ros-melodic-amcl -y
sudo apt-get install ros-melodic-rviz-imu-plugin -y