http://www.generationrobots.com/blog/en/2015/02/robotic-simulation-scenarios-with-gazebo-and-ros/
1.http://www.pslyw.net/8809696.html
- TRAJECTORY_BUILDER_2D.use_imu_data = false
- TRAJECTORY_BUILDER_2D.use_online_correlative_scan_matching = true
http://www.generationrobots.com/blog/en/2015/02/robotic-simulation-scenarios-with-gazebo-and-ros/
1.http://www.pslyw.net/8809696.html