软件	版本
Ubuntu	16.04LTS
ROS	kinetic
gazebo	7.16

使用gmapping建立并保存地图

1、下载gmapping功能包

sudo apt-get install ros-kinetic-gmapping

2、使用gazebo创建一个自己的world模型
终端运行gazebo命令，打开一个空的gazebo，点击Edit——>Building Editor，就可以自己去画环境模型

然后点击File——>save as ，选择自己想要保存的地方，就会保存两个文件，然后关闭gazebo

重新运行gazebo命令，打开空的gazebo，点击insert，就可以看到刚刚创建的模型，然后点击save world as选择自己要保存的路径就可以保存为world文件

补充：创建需要的功能包的命令如下：

 catkin_create_pkg mbot_gazebo gazebo_plugins gazebo_ros gazebo_ros_control roscpp rospycatkin_create_pkg mbot_navigation geometry_msgs move_base_msgs roscpp rospycatkin_create_pkg mbot_teleop geometry_msgs roscpp rospy 

3、在ROS工作空间下的mbot_navigation功能包下创建一个launch文件夹，并在文件夹下建立gmapping.launch文件，内容如下：

<launch><arg name="scan_topic" default="scan" /><node pkg="gmapping" type="slam_gmapping" name="slam_gmapping" output="screen" clear_params="true"><param name="odom_frame" value="odom"/><param name="map_update_interval" value="5.0"/><!-- Set maxUrange < actual maximum range of the Laser --><param name="maxRange" value="5.0"/><param name="maxUrange" value="4.5"/><param name="sigma" value="0.05"/><param name="kernelSize" value="1"/><param name="lstep" value="0.05"/><param name="astep" value="0.05"/><param name="iterations" value="5"/><param name="lsigma" value="0.075"/><param name="ogain" value="3.0"/><param name="lskip" value="0"/><param name="srr" value="0.01"/><param name="srt" value="0.02"/><param name="str" value="0.01"/><param name="stt" value="0.02"/><param name="linearUpdate" value="0.5"/><param name="angularUpdate" value="0.436"/><param name="temporalUpdate" value="-1.0"/><param name="resampleThreshold" value="0.5"/><param name="particles" value="80"/><param name="xmin" value="-1.0"/><param name="ymin" value="-1.0"/><param name="xmax" value="1.0"/><param name="ymax" value="1.0"/><param name="delta" value="0.05"/><param name="llsamplerange" value="0.01"/><param name="llsamplestep" value="0.01"/><param name="lasamplerange" value="0.005"/><param name="lasamplestep" value="0.005"/><remap from="scan" to="$(arg scan_topic)"/></node>
</launch>

在此路径下，建立gmapping_demo.launch文件，内容如下：

<launch><include file="$(find mbot_navigation)/launch/gmapping.launch"/><!-- 启动rviz --><node pkg="rviz" type="rviz" name="rviz" args="-d $(find mbot_navigation)/rviz/gmapping.rviz"/></launch>

补充：还是在ROS工作空间下的mbot_navigation功能包下创建一个rviz文件夹，并在文件夹下建立gmapping.rviz文件，内容如下：

Panels:- Class: rviz/DisplaysHelp Height: 78Name: DisplaysProperty Tree Widget:Expanded:- /Global Options1- /RobotModel1/Links1/base_footprint1- /Map1/Position1Splitter Ratio: 0.652661026Tree Height: 536- Class: rviz/SelectionName: Selection- Class: rviz/Tool PropertiesExpanded:- /2D Pose Estimate1- /2D Nav Goal1Name: Tool PropertiesSplitter Ratio: 0.428570986- Class: rviz/ViewsExpanded:- /Current View1Name: ViewsSplitter Ratio: 0.5- Class: rviz/TimeExperimental: falseName: TimeSyncMode: 0SyncSource: LaserScan
Toolbars:toolButtonStyle: 2
Visualization Manager:Class: ""Displays:- Alpha: 0.5Cell Size: 0.5Class: rviz/GridColor: 88; 88; 90Enabled: trueLine Style:Line Width: 0.0299999993Value: LinesName: GridNormal Cell Count: 0Offset:X: 0Y: 0Z: 0Plane: XYPlane Cell Count: 80Reference Frame: mapValue: true- Angle Tolerance: 0.100000001Class: rviz/OdometryCovariance:Orientation:Alpha: 0.5Color: 255; 255; 127Color Style: UniqueFrame: LocalOffset: 1Scale: 1Value: truePosition:Alpha: 0.300000012Color: 204; 51; 204Scale: 1Value: trueValue: trueEnabled: falseKeep: 100Name: OdometryPosition Tolerance: 0.100000001Shape:Alpha: 1Axes Length: 1Axes Radius: 0.100000001Color: 255; 25; 0Head Length: 0.300000012Head Radius: 0.100000001Shaft Length: 1Shaft Radius: 0.0500000007Value: ArrowTopic: /odomUnreliable: falseValue: false- Angle Tolerance: 0.100000001Class: rviz/OdometryCovariance:Orientation:Alpha: 0.5Color: 255; 255; 127Color Style: UniqueFrame: LocalOffset: 1Scale: 1Value: truePosition:Alpha: 0.300000012Color: 204; 51; 204Scale: 1Value: trueValue: trueEnabled: falseKeep: 100Name: Odometry EKFPosition Tolerance: 0.100000001Shape:Alpha: 1Axes Length: 1Axes Radius: 0.100000001Color: 255; 25; 0Head Length: 0.300000012Head Radius: 0.100000001Shaft Length: 1Shaft Radius: 0.0500000007Value: ArrowTopic: /odomUnreliable: falseValue: false- Alpha: 1Class: rviz/RobotModelCollision Enabled: falseEnabled: trueLinks:All Links Enabled: trueExpand Joint Details: falseExpand Link Details: falseExpand Tree: falseLink Tree Style: Links in Alphabetic Orderback_caster_link:Alpha: 1Show Axes: falseShow Trail: falseValue: truebase_footprint:Alpha: 1Show Axes: falseShow Trail: falseValue: truebase_link:Alpha: 1Show Axes: falseShow Trail: falseValue: truefront_caster_link:Alpha: 1Show Axes: falseShow Trail: falseValue: truelaser_link:Alpha: 1Show Axes: falseShow Trail: falseValue: trueleft_wheel_link:Alpha: 1Show Axes: falseShow Trail: falseValue: trueright_wheel_link:Alpha: 1Show Axes: falseShow Trail: falseValue: trueName: RobotModelRobot Description: robot_descriptionTF Prefix: ""Update Interval: 0Value: trueVisual Enabled: true- Alpha: 0.5Class: rviz/MapColor Scheme: mapDraw Behind: trueEnabled: trueName: MapTopic: /mapUnreliable: falseUse Timestamp: falseValue: true- Alpha: 1Autocompute Intensity Bounds: trueAutocompute Value Bounds:Max Value: 0.30399999Min Value: 0.30399999Value: trueAxis: ZChannel Name: intensityClass: rviz/LaserScanColor: 255; 0; 0Color Transformer: FlatColorDecay Time: 0Enabled: trueInvert Rainbow: falseMax Color: 255; 255; 255Max Intensity: 4096Min Color: 0; 0; 0Min Intensity: 0Name: LaserScanPosition Transformer: XYZQueue Size: 10Selectable: trueSize (Pixels): 3Size (m): 0.100000001Style: SpheresTopic: /scanUnreliable: falseUse Fixed Frame: trueUse rainbow: trueValue: trueEnabled: trueGlobal Options:Background Color: 0; 0; 0Default Light: trueFixed Frame: mapFrame Rate: 30Name: rootTools:- Class: rviz/MoveCamera- Class: rviz/InteractHide Inactive Objects: true- Class: rviz/Select- Class: rviz/SetInitialPoseTopic: /initialpose- Class: rviz/SetGoalTopic: /move_base_simple/goalValue: trueViews:Current:Class: rviz/XYOrbitDistance: 25.5129166Enable Stereo Rendering:Stereo Eye Separation: 0.0599999987Stereo Focal Distance: 1Swap Stereo Eyes: falseValue: falseFocal Point:X: 0.456349134Y: -4.62145996Z: 4.76837158e-07Focal Shape Fixed Size: trueFocal Shape Size: 0.0500000007Invert Z Axis: falseName: Current ViewNear Clip Distance: 0.00999999978Pitch: 1.19979608Target Frame: <Fixed Frame>Value: XYOrbit (rviz)Yaw: 5.34539318Saved: ~
Window Geometry:Displays:collapsed: falseHeight: 749Hide Left Dock: falseHide Right Dock: falseQMainWindow State: 000000ff00000000fd00000004000000000000016a000002a7fc0200000005fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000006100fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000198000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c0061007900730100000028000002a7000000d700ffffff000000010000010f00000324fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000002800000324000000ad00fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004a00000003efc0100000002fb0000000800540069006d00650000000000000004a00000030000fffffffb0000000800540069006d0065010000000000000450000000000000000000000242000002a700000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000Selection:collapsed: falseTime:collapsed: falseTool Properties:collapsed: falseViews:collapsed: falseWidth: 946X: 766Y: 197

4、在ROS工作空间下的mbot_gazebo功能包下的launch文件夹下，创建mbot_laser_nav_gazebo.launch文件，内容如下：
hui.world是我自己创建的world环境名称

<launch><!-- 设置launch文件的参数 --><arg name="world_name" value="$(find mbot_gazebo)/worlds/hui.world"/><arg name="paused" default="false"/><arg name="use_sim_time" default="true"/><arg name="gui" default="true"/><arg name="headless" default="false"/><arg name="debug" default="false"/><!-- 运行gazebo仿真环境 --><include file="$(find gazebo_ros)/launch/empty_world.launch"><arg name="world_name" value="$(arg world_name)" /><arg name="debug" value="$(arg debug)" /><arg name="gui" value="$(arg gui)" /><arg name="paused" value="$(arg paused)"/><arg name="use_sim_time" value="$(arg use_sim_time)"/><arg name="headless" value="$(arg headless)"/></include><!-- 加载机器人模型描述参数 --><param name="robot_description" command="$(find xacro)/xacro --inorder '$(find mbot_description)/urdf/xacro/gazebo/mbot_with_laser_gazebo.xacro'" /> <!-- 运行joint_state_publisher节点，发布机器人的关节状态  --><node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher" ></node> <!-- 运行robot_state_publisher节点，发布tf  --><node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher"  output="screen" ><param name="publish_frequency" type="double" value="50.0" /></node><!-- 在gazebo中加载机器人模型--><node name="urdf_spawner" pkg="gazebo_ros" type="spawn_model" respawn="false" output="screen"args="-urdf -model mrobot -param robot_description"/> </launch>

5、在ROS工作空间下的mbot_teleop功能包下的launch文件夹里，创建mbot_teleop.launch文件，内容如下：

<launch><node name="mbot_teleop" pkg="mbot_teleop" type="mbot_teleop.py" output="screen"><param name="scale_linear" value="0.1" type="double"/><param name="scale_angular" value="0.4" type="double"/></node>
</launch>

在mbot_teleop功能包下创建mbot_teleop.py文件，内容如下：

#!/usr/bin/env python
# -*- coding: utf-8 -*-import rospy
from geometry_msgs.msg import Twist
import sys, select, termios, ttymsg = """
Control mbot!
---------------------------
Moving around:u    i    oj    k    lm    ,    .q/z : increase/decrease max speeds by 10%
w/x : increase/decrease only linear speed by 10%
e/c : increase/decrease only angular speed by 10%
space key, k : force stop
anything else : stop smoothlyCTRL-C to quit
"""moveBindings = {'i':(1,0),'o':(1,-1),'j':(0,1),'l':(0,-1),'u':(1,1),',':(-1,0),'.':(-1,1),'m':(-1,-1),}speedBindings={'q':(1.1,1.1),'z':(.9,.9),'w':(1.1,1),'x':(.9,1),'e':(1,1.1),'c':(1,.9),}def getKey():tty.setraw(sys.stdin.fileno())rlist, _, _ = select.select([sys.stdin], [], [], 0.1)if rlist:key = sys.stdin.read(1)else:key = ''termios.tcsetattr(sys.stdin, termios.TCSADRAIN, settings)return keyspeed = .2
turn = 1def vels(speed,turn):return "currently:\tspeed %s\tturn %s " % (speed,turn)if __name__=="__main__":settings = termios.tcgetattr(sys.stdin)rospy.init_node('mbot_teleop')pub = rospy.Publisher('/cmd_vel', Twist, queue_size=5)x = 0th = 0status = 0count = 0acc = 0.1target_speed = 0target_turn = 0control_speed = 0control_turn = 0try:print msgprint vels(speed,turn)while(1):key = getKey()# 运动控制方向键（1：正方向，-1负方向）if key in moveBindings.keys():x = moveBindings[key][0]th = moveBindings[key][1]count = 0# 速度修改键elif key in speedBindings.keys():speed = speed * speedBindings[key][0]  # 线速度增加0.1倍turn = turn * speedBindings[key][1]    # 角速度增加0.1倍count = 0print vels(speed,turn)if (status == 14):print msgstatus = (status + 1) % 15# 停止键elif key == ' ' or key == 'k' :x = 0th = 0control_speed = 0control_turn = 0else:count = count + 1if count > 4:x = 0th = 0if (key == '\x03'):break# 目标速度=速度值*方向值target_speed = speed * xtarget_turn = turn * th# 速度限位，防止速度增减过快if target_speed > control_speed:control_speed = min( target_speed, control_speed + 0.02 )elif target_speed < control_speed:control_speed = max( target_speed, control_speed - 0.02 )else:control_speed = target_speedif target_turn > control_turn:control_turn = min( target_turn, control_turn + 0.1 )elif target_turn < control_turn:control_turn = max( target_turn, control_turn - 0.1 )else:control_turn = target_turn# 创建并发布twist消息twist = Twist()twist.linear.x = control_speed; twist.linear.y = 0; twist.linear.z = 0twist.angular.x = 0; twist.angular.y = 0; twist.angular.z = control_turnpub.publish(twist)except:print efinally:twist = Twist()twist.linear.x = 0; twist.linear.y = 0; twist.linear.z = 0twist.angular.x = 0; twist.angular.y = 0; twist.angular.z = 0pub.publish(twist)termios.tcsetattr(sys.stdin, termios.TCSADRAIN, settings)

其中控制各个方向的是i/,控制前进/后退 u/m控制小车顺时针/逆时针旋转 j/l控制右转左转
6、打开终端运行roscore命令打开ros系统，新建一个终端，cd到ROS工作空间下，运行命令，打开就可以环境中带有激光雷达的机器人

catkin_make
source ~/catkin_ws/devel/setup.bash
roslaunch src/mbot_gazebo/launch/mbot_laser_nav_gazebo.launch

7、新建一个终端，cd到ROS工作空间下，运行命令，就可以看到rviz打开

roslaunch src/mbot_navigation/launch/gmapping_demo.launch

8、新建一个终端，cd到ROS工作空间下，运行

roslaunch src/mbot_teleop/launch/mbot_teleop.launch

通过键盘控制小车运动，并显示出地图

9、新建终端，运行命令

sudo apt-get install ros-kinetic-map-server
rosrun map_server map_saver -f ~/catkin_ws/src/mbot_navigation/maps/图片名称

地图就保存了，可以在路径下看到pgm图片和对应的yaml文件。

使用hector_slam建立并保存地图

1、下载hector_slam功能包

sudo apt-get install ros-kinetic-hector-slam

2、配置hector_mapping节点
在ROS工作空间下mbot_navigation功能包的launch文件夹下，创建hector.launch文件，内容如下：

<launch><node pkg = "hector_mapping" type="hector_mapping" name="hector_mapping" output="screen"><!-- Frame names --><param name="pub_map_odom_transform" value="true"/><param name="map_frame" value="map" /><param name="base_frame" value="base_footprint" /><param name="odom_frame" value="odom" /><!-- Tf use --><param name="use_tf_scan_transformation" value="true"/><param name="use_tf_pose_start_estimate" value="false"/><!-- Map size / start point --><param name="map_resolution" value="0.05"/><param name="map_size" value="2048"/><param name="map_start_x" value="0.5"/><param name="map_start_y" value="0.5" /><param name="laser_z_min_value" value = "-1.0" /><param name="laser_z_max_value" value = "1.0" /><param name="map_multi_res_levels" value="2" /><param name="map_pub_period" value="2" /><param name="laser_min_dist" value="0.4" /><param name="laser_max_dist" value="5.5" /><param name="output_timing" value="false" /><param name="pub_map_scanmatch_transform" value="true" /><!-- Map update parameters --><param name="update_factor_free" value="0.4"/><param name="update_factor_occupied" value="0.7" />    <param name="map_update_distance_thresh" value="0.2"/><param name="map_update_angle_thresh" value="0.06" /><!-- Advertising config --> <param name="advertise_map_service" value="true"/><param name="scan_subscriber_queue_size" value="5"/><param name="scan_topic" value="scan"/></node></launch>

同样在此目录下，创建hector_demo.launch文件

<launch><include file="$(find mbot_navigation)/launch/hector.launch"/><!-- 启动rviz--><node pkg="rviz" type="rviz" name="rviz" args="-d $(find mbot_navigation)/rviz/gmapping.rviz"/></launch>

3、新建一个终端，cd到ROS工作空间下运行命令

catkin_make
source ~/catkin_ws/devel/setup.bash
roslaunch src/mbot_gazebo/launch/mbot_laser_nav_gazebo.launch

新建一个终端，cd到ROS工作空间下，运行命令

roslaunch src/mbot_navigation/launch/hector_demo.launch

新建一个终端，cd到ROS工作空间下，运行命令

roslaunch src/mbot_teleop/launch/mbot_teleop.launch

通过键盘控制机器人运动，并用rviz显示出地图成像，

直至地图图像显示完成，就可以停止机器人的运动

4、新建终端，cd到ROS工作空间下，运行命令保存地图图像

rosrun map_server map_saver -f ~/catkin_ws/src/mbot_navigation/maps/图片名

在选择的目录下就可以看到pgm图片和yaml文件

遇到的问题解决以及总结

是没有安装map-server包，运行sudo apt-get install ros-kinetic-map-server命令安装

用hector_slam进行地图建立容易出现打滑现象，但是其实是键盘控制机器人运动没有控制好，出现打滑现象，我是将roslaunch src/mbot_navigation/launch/hector_demo.launch停止后，重新运行一遍，仔细观察机器人轮子的方向来判断运动方向，然后就没有出现这种情况了。
要将机器人遍历出的地图运用到机器人的自主导航上，还需要对pgm图片进行封边，就是运用编辑工具，将出现的建筑物的边框线条有断点，或是不太明显的地方进行弥补，使其清晰且没有断点，不然在机器人自主导航时，机器人运动会出现很大误差。

ps:我已将这些功能包上传，如有需要可自行下载。
这些launch文件夹什么的都是需要自己新建的
如有错误请指正！