启动gazebo
roslaunch gazebo_pkg race.launch
gazebo控制键盘
rosrun teleop_twist_keyboard teleop_twist_keyboard.py
启动rviz
roslaunch gazebo_map demo_revo_lds.launch
保存rviz地图
rosrun map_server map_saver --occ 70 --free 30 -f mapname
启动已有rviz地图
roslaunch gazebo_nav navi_demo.launch
