工作空间的结构
准备工作 mkdir ros_zy
cd ros_zy
mkdir src
catkin_make
code .
cd src
catkin_create_pkg my_car roscpp rospy std_msgs urdf xacro
cd ma_car
mkdir scripts
mkdir urdf
mkdir config
mkdir launch
mkdir world
sudo gazebo
catkin_create_pkg my_slam roscpp rospy std_msgs urdf xacro
mkdir launch
mkdir params
mkdir map
启动slam建图 cd ros_zy
source ./devel/setup.bash
roslaunch my_car robot_car_gazebo.launch
roslaunch my_slam slam_gmaping.launch
rviz
rosrun teleop_twist_keyboard teleop_twist_keyboard.py
roslaunch my_slam map_save.launch
启动导航 source ./devel/setup.bash
roslaunch my_car robot_car_gazebo.launch
roslaunch my_slam robot_car_navigater.launch
Slam建图的图片
构建好的场景图片
