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一、建图 1、roslaunch orbbec_navigation ob_gmapping_4_astranh_d.launch 2、roslaunch turtlebot_teleop keyboard_teleop.launch 3、rosrun rviz rviz -d `rospack find orbbec_navigation`/rviz/navigation_with_four_camera.rviz 4、rosrun map_server map_saver -f /home/maps/map1 二、导航 1、roslaunch orbbec_navigation ob_amcl_4_astranh_d.launch 2、rosrun rviz rviz -d `rospack find orbbec_navigation`/rviz/navigation_with_four_camera.rviz
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