rosrun gmapping slam_gmapping
roslaunch kobuki_node minimal.launch
roslaunch rplidar.launch
roslaunch fram.launch
rosrun rviz rviz
roslaunch kobuki_node minimal.launch
roslaunch rplidar.launch
roslaunch fram.launch
rosrun rviz rviz
原文：https://www.cnblogs.com/qixianyu/p/8359609.html