cartographer 在Turtlebot3上的仿真实现_turtlebot3 cartographer

1. 仿真环境搭建
参考创客智造-Turtlebot3与仿真-仿真环境搭建(kinetic版)
测试环境：Ubuntu 16.04 和 ROS Kinetic Kame.

2. 在gazebo上实现cartographer建图

1）仿真环境搭建：新终端，加载gazebo环境，启动键盘控制程序
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export TURTLEBOT3_MODEL=burger
## TURTLEBOT3_MODEL有burger, waffle或waffle_pi三种
roslaunch turtlebot3_gazebo turtlebot3_world.launch
roslaunch turtlebot3_teleop turtlebot3_teleop_key.launch
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2）启动算法：新终端，启动SLAM程序
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export TURTLEBOT3_MODEL=burger
## TURTLEBOT3_MODEL有burger, waffle或waffle_pi三种
roslaunch turtlebot3_slam turtlebot3_slam
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