1. login
ssh fetch@<robot ip or robot name>
2. set robot master
modify .bashrc in robot‘s computer using ssh
export ROS_MASTER_URI=http://<robot ip or robot name>:11311
export ROS_IP=<robot ip>
modify .bashrc in local computer
export ROS_MASTER_URI=http://<robot ip or robot name>:11311
export ROS_IP=<local ip>
3. using "rostopic list" to check ros communication
Normally, you will see the robot‘s topic list on both sides.
4. run launch file
roslaunch slam_karto karto_slam.launch
5. view map building in rviz
From the local side, run "rosrun rviz rviz" or "rviz" and check the map building.
However, I am meeting a problem here that I cannot see map is being built.
By checking "rostopic echo /map", I find no data is published on /map.
implement "slam_karto" package on a Freight robot
原文：http://www.cnblogs.com/casperwin/p/6064556.html