搭建gmaping建图环境

sudo apt-get install ros-indigo-serial ros-indigo-turtlebot-rviz-launchers

mkdir -p  ~/dashgo_ws/src
cd   ~/dashgo_ws/src

## dashgo SLAM版本
git clone https://github.com/EAIBOT/dashgo.git cd dashgo
git checkout slam_01

## 激光雷达rplidar 一代驱动
git clone https://github.com/robopeak/rplidar_ros.git cd rplidar_ros
git checkout 1.0.1

## 建图依赖包
git clone https://github.com/ros-perception/slam_gmapping git clone https://github.com/ros-perception/openslam_gmapping git clone https://github.com/ros-planning/navigation.git[/code] 
然后编译

串口访问权限
创建dashgo和rplidar的串口别名的访问

roscd dashgo_bringup/startup
sudo sh create_dashgo_udev.sh
sudo sh create_rplidar_udev.sh


重新插拔连接电脑的USB线

运行
roslaunch dashgo_nav gmapping_demo.launch
rosrun dashgo_bringup teleop_twist_keyboard.py
roslaunch turtlebot_rviz_launchers view_navigation.launch


保存地图

roscd dashgo_nav/maps
rosrun map_server map_saver -f my_map


运行效果如下图：