如果没有安装move_base基础库需要安装，安装步骤如下：

sudo apt install ros-kinetic-move-base ros-kinetic-move-base-msgs ros-kinetic-move-base-flex ros-kinetic-move-base-to-manip
sudo apt install ros-kinetic-navigation ros-kinetic-navigation-stage ros-kinetic-navigation-experimental  ros-kinetic-navigation-tutorials ros-kinetic-navigation-layers
sudo apt install ros-kinetic-global-planner
sudo apt install ros-kinetic-cost-map ros-kinetic-costmap-cspace ros-kinetic-cost-map-msgs ros-kinetic-cost-map-visualisations ros-kinetic-costmap-2d ros-kinetic-costmap-cspace-msgs ros-kinetic-costmap-prohibition-layer ros-kinetic-costmap-converter ros-kinetic-cost-map-cv ros-kinetic-costmap-queue ros-kinetic-cost-map-core ros-kinetic-cost-map-demos ros-kinetic-cost-map-ros

安装DWA规划程序：

sudo apt-get install ros-kinetic-dwa-local-planner

安装TEB规划程序例子：

sudo apt-get install ros-kinetic-teb-local-planner-tutorials

打开例子所在文件夹：/opt/ros/kinetic/share/teb_local_planner_tutorials/launch，复制一份robot_diff_drive_in_stage.launch，修改过程如下。修改的地方只有两个

把原来的

<param name="base_local_planner" value="teb_local_planner/TebLocalPlannerROS" />

修改为

<param name="base_local_planner" value="dwa_local_planner/DWAPlannerROS" />

把TEB的配置文件改为DWA的：

<rosparam file="$(find teb_local_planner_tutorials)/cfg/carlike/dwa_local_planner_params.yaml" command="load" />

如果你不能修改说明权限不够，可使用以下方法更改文件夹权限：

sudo chmod -R 777 *