利用mrpt库实现了一下icp_slam、rbpf_slam和amcl定位
如果是indigo版本的话，记得把kinetic换成indigo
1.安装mrpt库
sudo apt-get install ros-kinetic-mrpt-navigation
sudo apt-get install ros-kinetic-mrpt-slam
2.下载并用catkin_make编译
3.运行amcl定位
source slam_ws/devel/setup.bash
roslaunch slam_ws gazebo.launch
roslaunch slam_ws localization.launch
4.安装运行teleop_node,该节点可控制小车移动
sudo apt-get install ros-kinetic-teleop-twist-keyboard
rosrun teleop_twist_keyboard teleop_twist_keyboard.py