启动键盘控制节点用于slam建图时，终端wait??记不清了，后续补上。且topic list不含/cmd_vel话题

• 启动gazebo仿真环境
• 启动地图绘制的launch文件，如

roslaunch nav_demo nav01_slam.launch

• 启动键盘控制节点

rosrun teleop_twist_keyboard teleop_twist_keyboard.py

出现

Waiting for subscriber to connect to /cmd_vel

且rviz中组件疯狂标红

1.更改话题名，建立launch文件

<launch ><node pkg = "turtlesim"  type = "turtlesim_node"  name = "my_turtle"  output = "screen" ><remap from = "/turtle1/cmd_vel"  to = "/cmd_vel"/>node><node pkg = "turtlesim"  type = "turtle_teleop_key"  name = "my_key"  output = "screen"/>
launch>

2.两轮差速
xacro文件下集成运动控制、laser、camera、kinect的xacro文件
3.两车跟随运动时主车

roslaunch tianbot_mini teleop.launch robot_name:=tbmn_01

其中robot_name和rostopic list发布的话题不一样时会出现Waiting for subscriber to connect to /tbmn_1/cmd_vel

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