一、slam仿真

1、安装环境依赖

sudo apt install ros-noetic-cartographer ros-noetic-cartographer-ros

2、创建Turtlebot3目录并下载安装

mkdir -p catkin_turtlebot3/src
cd catkin_turtlebot3/src
git clone https://github.com/ROBOTIS-GIT/turtlebot3_msgs.git
git clone https://github.com/ROBOTIS-GIT/turtlebot3.git
git clone https://github.com/ROBOTIS-GIT/turtlebot3_simulations.git
cd ..
rosdep install --from-paths src -i -y
catkin_make

3、配置Turtlebot3环境

echo "export TURTLEBOT3_MODEL=waffle" >> ~/.bashrc
echo "source ~/catkin_turtlebot3/devel/setup.bash" >> ~/.bashrc

测试是否安装成功：
重新打开终端，运行如下指令

echo $ROS_PACKAGE_PATH

4、运行slam仿真

终端一：

cd catkin_turtlebot3
roscore

终端二：

roslaunch turtlebot3_gazebo turtlebot3_world.launch

最终效果如下：