ros slam建图

回答: 如果你想在ROS中进行SLAM建图，你可以按照以下步骤进行操作。首先，确保你的rosdep正常工作。如果不正常，你可以通过手动安装依赖清单来解决。你可以使用以下命令来安装所需的依赖项:
sudo apt-get update
sudo apt-get install ros-$ROS_DISTRO-teleop-twist-keyboard ros-$ROS_DISTRO-amcl ros-$ROS_DISTRO-move-base ros-$ROS_DISTRO-slam-gmapping ros-$ROS_DISTRO-slam-karto ros-$ROS_DISTRO-cartographer ros-$ROS_DISTRO-cartographer-ros ros-$ROS_DISTRO-dwa-local-planner ros-$ROS_DISTRO-teb-local-planner ros-$ROS_DISTRO-uvc-camera ros-$ROS_DISTRO-map-server ros-$ROS_DISTRO-hector-slam* ros-$ROS_DISTRO-global-planner ros-$ROS_DISTRO-navfn -y
\[1\]

接下来，你可以参考GitHub上提供的示例launch文件来编写你自己的launch文件。这个示例文件可以在ros-perception/slam_gmapping仓库中找到。\[2\]

在创建功能包时，确保导入以下依赖项: gmapping、map_server、amcl和move_base。gmapping用于构建地图，map_server用于保存和读取地图，amcl用于定位，move_base用于路径规划。\[3\]
#### 引用[.reference_title]
- *1* [基于ROS的SLAM建图、自动导航、避障（冰达机器人）](https://blog.csdn.net/weixin_45509406/article/details/125387424)[target="_blank" data-report-click={"spm":"1018.2226.3001.9630","extra":{"utm_source":"vip_chatgpt_common_search_pc_result","utm_medium":"distribute.pc_search_result.none-task-cask-2~all~insert_cask~default-1-null.142^v91^control_2,239^v3^insert_chatgpt"}} ] [.reference_item]
- *2* [ROS学习第四十一节——SLAM建图](https://blog.csdn.net/qq_45685327/article/details/130335143)[target="_blank" data-report-click={"spm":"1018.2226.3001.9630","extra":{"utm_source":"vip_chatgpt_common_search_pc_result","utm_medium":"distribute.pc_search_result.none-task-cask-2~all~insert_cask~default-1-null.142^v91^control_2,239^v3^insert_chatgpt"}} ] [.reference_item]
- *3* [ROS导航实现：SLAM建图（slam_gmapping）与保存(map_server)](https://blog.csdn.net/weixin_45205599/article/details/129739968)[target="_blank" data-report-click={"spm":"1018.2226.3001.9630","extra":{"utm_source":"vip_chatgpt_common_search_pc_result","utm_medium":"distribute.pc_search_result.none-task-cask-2~all~insert_cask~default-1-null.142^v91^control_2,239^v3^insert_chatgpt"}} ] [.reference_item]
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