一、创建编译功能包

切换到catkin_ws/src目录下，如下：

cd catkin_ws/src
catkin_create_pkg mbot_sim_gazebo_mapping urdf xacro

返回到catkin_ws目录下，编译该功能包，如下：

cd ..
catkin_make mbot_sim_gazebo_mapping

在该功能包下创建include、src、launch、urdf、world、map、script文件夹，在urdf文件下创建urdf文件夹和xacro文件夹。

cd src/mbot_sim_gazebo_mapping
mkdir include
mkdir src
mkdir launch
mkdir urdf
mkdir world
mkdir map
mkdir script
cd urdf
mkdir urdf
mkdir xacro

二、xacro文件

1、创建robot_base.xacro文件

切换到xacro文件下，创建robot_base.xacro文件，文件内容如下：

    Gazebo/Graytransmission_interface/SimpleTransmissionhardware_interface/VelocityJointInterfacehardware_interface/VelocityJointInterface1      Gazebo/Blackfalse           Gazebo/BlueDebugtrue/1truetrue100.0trueleft_wheel_jointright_wheel_joint${wheel_joint_y*2}${2*wheel_radius}1301.8cmd_velodom odom base_footprintworld1 

2、创建robot_camera.xacro文件

在xacro文件下，创建robot_camera.xacro文件，文件内容如下：

Gazebo/Black30.01.39626341280720R8G8B80.02300gaussian0.00.007true0.0/cameraimage_rawcamera_infocamera_link0.070.00.00.00.00.0

3、创建robot_lidar.xacro文件

在xacro文件下，创建robot_lidar.xacro文件，文件内容如下：

0 0 0 0 0 0false407201-1.5707961.5707960.1030.00.01gaussian0.00.01/scanhokuyo_link

4、创建robot.xacro文件

在xacro文件下，创建robot.xacro文件，文件内容如下：

接下来需要将.gazebo/models/hokuyo/目录中的meshes文件夹整体复制到我们的功能包mbot_sim_gazebo下面。将桌面上准备的room.world文件，放在功能包下的world文件夹里面。将opt/ros/melodic/lib/teleop_twist_keyboard文件夹下的teleop_twist_keyboard.py文件放入目前功能包里面的script文件夹

三、launch启动文件

1、创建robot_gazebo_mapping.launch文件

在启动文件中配置rviz和gmaping包，robot_gazebo_mapping.launch文件内容如下：

四、下载安装建图定位导航相关的功能包

1、下载与安装

sudo apt-get install ros-melodic-slam-gmapping
sudo apt-get install ros-melodic-gmapping
sudo apt-get install ros-melodic-navigation

2、运行robot_gazebo_mapping.launch

roslaunch mbot_sim_gazebo_mapping robot_gazebo_mapping.launch

效果如下图：

在rviz里面，添加RobotModel，添加LaserScan，添加Map

然后将LaserScan的Topic设置为/scan

将Map的Topic设置为/map

将Global Options——Fixed Frame设置为base_footprint

效果如下：

键盘控制

在功能包里的script文件夹里创建一个名为teleop_twist_keyboard.py的空白文档，内容如下：

#!/usr/bin/env pythonfrom __future__ import print_functionimport threadingimport roslib; roslib.load_manifest('teleop_twist_keyboard')
import rospyfrom geometry_msgs.msg import Twistimport sys, select, termios, ttymsg = """
Reading from the keyboard  and Publishing to Twist!
---------------------------
Moving around:q    w    ea    s    dz    x    cFor Holonomic mode (strafing), hold down the shift key:
---------------------------U    I    OJ    K    LM    <    >t : up (+z)
b : down (-z)anything else : stopq/z : increase/decrease max speeds by 10%
w/x : increase/decrease only linear speed by 10%
e/c : increase/decrease only angular speed by 10%CTRL-C to quit
"""moveBindings = {'w':(1,0,0,0),'e':(1,0,0,-1),'a':(0,0,0,1),'d':(0,0,0,-1),'q':(1,0,0,1),'x':(-1,0,0,0),'c':(-1,0,0,1),'z':(-1,0,0,-1),'O':(1,-1,0,0),'I':(1,0,0,0),'J':(0,1,0,0),'L':(0,-1,0,0),'U':(1,1,0,0),'<':(-1,0,0,0),'>':(-1,-1,0,0),'M':(-1,1,0,0),'t':(0,0,1,0),'b':(0,0,-1,0),}speedBindings={'q':(1.1,1.1),'z':(.9,.9),'w':(1.1,1),'x':(.9,1),'e':(1,1.1),'c':(1,.9),}class PublishThread(threading.Thread):def __init__(self, rate):super(PublishThread, self).__init__()self.publisher = rospy.Publisher('cmd_vel', Twist, queue_size = 1)self.x = 0.0self.y = 0.0self.z = 0.0self.th = 0.0self.speed = 0.0self.turn = 0.0self.condition = threading.Condition()self.done = False# Set timeout to None if rate is 0 (causes new_message to wait forever# for new data to publish)if rate != 0.0:self.timeout = 1.0 / rateelse:self.timeout = Noneself.start()def wait_for_subscribers(self):i = 0while not rospy.is_shutdown() and self.publisher.get_num_connections() == 0:if i == 4:print("Waiting for subscriber to connect to {}".format(self.publisher.name))rospy.sleep(0.5)i += 1i = i % 5if rospy.is_shutdown():raise Exception("Got shutdown request before subscribers connected")def update(self, x, y, z, th, speed, turn):self.condition.acquire()self.x = xself.y = yself.z = zself.th = thself.speed = speedself.turn = turn# Notify publish thread that we have a new message.self.condition.notify()self.condition.release()def stop(self):self.done = Trueself.update(0, 0, 0, 0, 0, 0)self.join()def run(self):twist = Twist()while not self.done:self.condition.acquire()# Wait for a new message or timeout.self.condition.wait(self.timeout)# Copy state into twist message.twist.linear.x = self.x * self.speedtwist.linear.y = self.y * self.speedtwist.linear.z = self.z * self.speedtwist.angular.x = 0twist.angular.y = 0twist.angular.z = self.th * self.turnself.condition.release()# Publish.self.publisher.publish(twist)# Publish stop message when thread exits.twist.linear.x = 0twist.linear.y = 0twist.linear.z = 0twist.angular.x = 0twist.angular.y = 0twist.angular.z = 0self.publisher.publish(twist)def getKey(key_timeout):tty.setraw(sys.stdin.fileno())rlist, _, _ = select.select([sys.stdin], [], [], key_timeout)if rlist:key = sys.stdin.read(1)else:key = ''termios.tcsetattr(sys.stdin, termios.TCSADRAIN, settings)return keydef vels(speed, turn):return "currently:\tspeed %s\tturn %s " % (speed,turn)if __name__=="__main__":settings = termios.tcgetattr(sys.stdin)rospy.init_node('teleop_twist_keyboard')speed = rospy.get_param("~speed", 0.5)turn = rospy.get_param("~turn", 1.0)repeat = rospy.get_param("~repeat_rate", 0.0)key_timeout = rospy.get_param("~key_timeout", 0.0)if key_timeout == 0.0:key_timeout = Nonepub_thread = PublishThread(repeat)x = 0y = 0z = 0th = 0status = 0try:pub_thread.wait_for_subscribers()pub_thread.update(x, y, z, th, speed, turn)print(msg)print(vels(speed,turn))while(1):key = getKey(key_timeout)if key in moveBindings.keys():x = moveBindings[key][0]y = moveBindings[key][1]z = moveBindings[key][2]th = moveBindings[key][3]elif key in speedBindings.keys():speed = speed * speedBindings[key][0]turn = turn * speedBindings[key][1]print(vels(speed,turn))if (status == 14):print(msg)status = (status + 1) % 15else:# Skip updating cmd_vel if key timeout and robot already# stopped.if key == '' and x == 0 and y == 0 and z == 0 and th == 0:continuex = 0y = 0z = 0th = 0if (key == '\x03'):breakpub_thread.update(x, y, z, th, speed, turn)except Exception as e:print(e)finally:pub_thread.stop()termios.tcsetattr(sys.stdin, termios.TCSADRAIN, settings)

执行如下代码，实现模型的键盘控制：

rosrun mbot_sim_gazebo_mapping teleop_twist_keyboard.py

通过qweasdzxc让小车运动

效果如下：

 通过键盘控制机器人的移动，完成建图过程，移动过程中可以观察到rviz中地图的变化，在这里我已经把整个图扫完了。

五、保存地图

在mbot_sim_gazebo_mapping功能包下，切换到map文件夹下，右键打开终端，执行如下命令，完成地图保存：

rosrun map_server map_saver -f myMapFile

 然后打开该功能包里面的map文件，如果里面有1个刚扫完的图片和一个文件，即可。后期需要用到这两个文件

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