环境：Ubuntu 18.04 + ros2 eloquent

wget http://fishros.com/install -O fishros && . fishros

1.安装turtlebot3相关功能包

sudo apt install ros-eloquent-turtlebot3*

ref：

https://docs.ros.org/

ROS2导航SLAM建图探索_鱼香ROS的博客-CSDN博客

动手学ROS2

动手学ROS2-RO2机器人建图导航仿真demo_哔哩哔哩_bilibili