1.問題：裝完ros ，apt-get 裝完turtlebot 包之后，運行roslaunch turtlebot_bringup minimal.launch。出現這個錯誤
[robot_state_publisher-1] process has died [pid 4686, exit code -11, cmd /opt/ros/indigo/lib/robot_state_publisher/robot_state_publisher __name:=robot_state_publisher __log:=/home/turtlebot/.ros/log/afe716d4-aa3b-11e6-838c-74c63b5b546f/robot_state_publisher-1.log].
log file: /home/turtlebot/.ros/log/afe716d4-aa3b-11e6-838c-74c63b5b546f/robot_state_publisher-1*.log
問題分析：這個包是用來處理機器人坐標系 還有其他物體坐標系的包。現在的停止，導致后續的map構建無法實現。
解決辦法：仔細閱讀 turtlebot 安裝步驟。重新加入新的步驟，