代码使用参考教程：教程地址
sudo apt-get install ros-kinetic-controller-manager
sudo apt-get install ros-kinetic-gazebo-ros-control
sudo apt-get install ros-kinetic-effort-controllers
sudo apt-get install ros-kinetic-joint-state-controllersudo apt-get install ros-kinetic-driver-basesudo apt-get install ros-kinetic-rtabmap-rossudo apt-get install ros-kinetic-ackermann-msgs执行：locate OpenCVConfig.cmake得到你的opencv的路径
执行：gedit ~/racecar_ws/src/racecar_gazebo/CMakeLists.txt
修改第7行的路径成你的路径:set(OpenCV_DIR /opt/ros/kinetic/share/OpenCV-3.3.1-dev/)
sudo apt-get install ros-kinetic-teb-local-planner这个纯属个人失误，写四轮摄像头组的博客的时候觉得激光雷达的蓝色太碍事了就把它关了......我单纯的以为只是关闭了激光显示，原来是把数据都关了！抱歉～ ～/racecar_ws/src/racecar_description/urdf/racecar.gazebo在这个文件中61行改成false即可，代码我已修复，直接下载没有问题的
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