1、Gazebo 2D建图
roslaunch wheeltec_gazebo_function mapping.launch
2、键盘控制
roslaunch wheeltec_gazebo_function keyboard_teleop.launch
3、保存地图
一键保存地图(WHEELTEC.pgm、WHEELTEC.yaml)
roslaunch wheeltec_gazebo_function map_saver.launch
4、Gazebo 2D导航
roslaunch wheeltec_gazebo_function navigation.launch