<5>仿真建图导航

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#######建图#######
1.roslaunch turtlebot3_gazebo turtlebot3_world
2.roslaunch turtlebot3_slam turtlebot3_slam.launch
3.roslaunch turtlebot3_teleop turtlebot3_teleop_key
4.控制移动，扫描整个区域
5.rosrun map_server map_saver  -f  ~/map




#####导航######
1.roslaunch turtlebot3_gazebo turtlebot3_world.launch
2.roslaunch turtlebot3_navigation turtlebot3_navigation.launch map_file:=$HOME/map.yaml
3.设置初始位置，点击2D Pose Estimate按钮
4.点击2D Nav Goal按钮,并拖动设置方向



#######遇到问题#####
1.roslaunch turtlebot3_navigation turtlebot3_navigation.launch map_file:=/home/ros/maps/map.yaml      其中文件路径不要用“~/maps/map.yaml”  "~"这个符号无效

2.costmap  message 提示 “No map received”  看log 是dwa-local-planner 报错
  需要安装sudo apt install ros-melodic-dwa-local-planner