catkin_make source devel/setup.bash
#１．首先运行gazebo仿真环境
roslaunch urdf02_gazebo demo03_env.launch
#2.然后执行launch文件,自主移动的SLAM建图；
roslaunch nav_demo nav07_slam_auto.launch
###3.运动方式－－键盘控制小车运动
rosrun teleop_twist_keyboard teleop_twist_keyboard.py
###保存地图
roslaunch nav_demo nav02_map.launch
###启动地图服务
roslaunch nav_demo nav03_map_server.launch