中文译著已经出版，详情请参考：http://blog.csdn.net/ZhangRelay/article/category/6506865

书中三维环境gazebo，slam的仿真例子

--$ roslaunchchapter8_tutorials gazebo_mapping_robot.launch model:="`rospackfind robot1_description`/urdf/robot1_base_04.xacro"

--$ rosrunteleop_twist_keyboard teleop_twist_keyboard.py

--$ rosrunmap_server map_saver -f map

--$ rosrunmap_server map_server map.yaml

--$ roslaunchchapter8_tutorials gazebo_map_robot.launch model:="`rospack findchapter8_tutorials`/urdf/robot1_base_04.xacro"

视频录像

http://v.youku.com/v_show/id_XMTQxMzMzNzAzMg