该仿真中需要用的的库：

sudo apt install ros-noetic-gmapping

sudo apt install ros-noetic-map-server

sudo apt install ros-noetic-navigation

apt install ros-noetic-teleop-twist-keyboard

apt install python3-pip  #下载
pip3 install pyserial  #安装




ros所用到的依赖：
urdf xacro gazebo_ros gazebo_ros_control gazebo_plugins


tf2 tf2_ros tf2_geometry_msgs roscpp std_msgs geometry_msgs