This is a practical case of combining Webots(2020a) and ROS (Ubuntu 18.04). It uses Gmapping to build maps, and also uses ORB3 monocular vision positioning to build maps.
Install Webots
Install ROS and "webots_ros" Package
Install Gmapping
Install ORB3-SLAM
The project itself is a ROS package. You only need to download it in your catkin_workspace and change the path in the launch file, then run catkin_make.
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