启动gazeb

 export TURTLEBOT3_MODEL=burger

ros2 launch turtlebot3_gazebo turtlebot3_world.launch.py

启动nav2

ros2 launch nav2_bringup navigation_launch.py use_sim_time:=True

slam建图节点

ros2 launch slam_toolbox online_async_launch.py use_sim_time:=True

配置m-explore-ros2

mkdir -p ~/ros2_ws/src
cd ~/ros2_ws
cd ~/ros2_ws/src
git clone https://github.com/robo-friends/m-explore-ros2.git
cd ~/ros2_ws
rosdep install --from-paths src --ignore-src -r -y
colcon build
source install/setup.bash
ros2 launch explore_lite explore.launch.py

保存地图两种方式
序列化地图

ros2 service call /slam_toolbox/serialize_map slam_toolbox/srv/SerializePoseGraph "{filename: '/home/your_name/maps/my_posegraph'}"

ros2 run nav2_map_server map_saver_cli -f ~/map