1）[Remote PC] 启动roscore

$ roscore

2）[TurBot3] 启动turbot3

$ roslaunch turbot3_bringup minimal.launch

3）[TurBot3] 启动karto算法

$ roslaunch turbot3_slam karto_demo.launch

4）[Remote PC] 启动Rviz

$ roslaunch turbot3_rviz navigation_rviz.launch

5）[Remote PC] 启动键盘操作

$ roslaunch turbot3_teleop keyboard.launch

移动机器人进行建图

6）[TurBot3] 完成建图后运行地图保存节点

$ rosrun map_server map_saver -f ~/map

map.pgm和map.yaml 在 ~/ 目录里创建