For details, please refer to：https://zhuanlan.zhihu.com/p/42995269
Dataset：https://pan.baidu.com/s/1j_SSEtaq7D0XwaED0Jg4Ew
step1. Download the repository to your ROS workspace: catkin_ws/src
step2. Make：catkin_make
step3. Run: roslaunch occ_grid_mapping mapping.launch
step4. Palay a rosbag: rosbag play laser2_2018-07-14-18-41-42.bag -r 5