最近ROS1的windows开发团队更新和完善了功能，目前最新版本是20181224.1。

分别升级如下功能包：

choco upgrade ros-melodic-desktop -y
choco upgrade ros-melodic-desktop_full -y
choco upgrade ros-melodic-cartographer_ros -y

c:\opt\ros\melodic\x64\setup.bat
c:\ros_ws\turtlebot3\install\setup.bat
set TURTLEBOT3_MODEL=waffle
roslaunch turtlebot3_gazebo turtlebot3_gazebo_cartographer_demo.launch