笔记本配置环境

1、安装map_server

sudo apt-get install ros-indigo-navigation

2、sanbot_pkg

sudo dpkg -i sanbot-env-1.0.0.0-20170626.deb

3、sanbao_key

      sudo dpkg -i sanbao-keyboard-1.0.3.0-20170817.deb   

      修改参数：/sanbot_pkg/share/sanbao_keyboard/param/sanbao_keyboard.yaml 

      笔记本密码、

    keyboard event事件在/proc/bus/input/devices查看event号

4、sanbot_navigation

       sudo dpkg -i sanbot-navigation-1.0.4.0-20170808.deb

5、catogragh

     sudo dpkg -i cartographer_1.0.1-0_trusty_amd64.deb

      依赖包

      sudo apt-get install libgflags-dev libgoogle-glog-dev

      sudo apt-get install libspqr1.3.1

      sudo apt-get install libatlas3-base

      /opt/ros/indigo/share/cartographer_turtlebot/configuration_file/astra_camera_2d.lau

      将gyro_link改成base_link

6、sanbot_print、sanbot_test

     sudo dpkg -i sanbot-app-1.0.4.8-20170817.deb

7、qh_SLAM

      建图、导航启动关闭脚本，定点导航auto_navi,python界面控制ros_debug_list.py，停止机器人stopRobot.sh

注：（1）需要sudo chmod -R 777 qh_SLAM给可执行权限

   （2）笔记本的ntpserver可不用关闭，用王尊钦的python界面程序ros_debug_list.py让笔记本获取x86时间进行校时之前会kill掉ntpserver进程。