turtlebot2+Gmapping建图

1.安装slam_gmapping

$ cd ~/catkin_ws/src/
$ git clone https://github.com/ros-perception/slam_gmapping.git
$ git clone https://github.com/ros-perception/openslam_gmapping
$ cd ~/catkin_ws
$ catkin_make 
$ source ~/catkin_ws/devel/setup.bash

2.启动turtlebot2和xbox手柄

$ roslaunch turtlebot_bringup minimal.launch
$ rosparam set /joystick/dev "/dev/input/js0"  (默认js0)
$ roslaunch turtlebot_teleop xbox360_teleop.launch

3.启动slam_gmapping

$　rosrun tf static_transform_publisher 0 0 0 0 0 0 base_link laser 100
$　rosrun gmapping slam_gmapping
$　rosrun rviz rviz

４.rviz出图效果