控制台输出ERROR：
[ERROR] [1509691216.710669237]: Skipping XML Document "/opt/ros/indigo/share/gmapping/nodelet_plugins.xml" which had no Root Element. This likely means the XML is malformed or missing
解决办法，卸载ROS重装
首先卸载ROS
sudo apt-get purge ros-*
然后进行重新安装