Manual

Generating a map
In this tutorial we will be mapping an area by driving the TurtleBot 4 around and using SLAM.
Start by making sure that the area you will be mapping is clear of unwanted obstacles. Ideally,
you don't want people or animals moving around the area while creating the map.
Launch SLAM
First, make sure that the RPLIDAR and description nodes are running on the TurtleBot 4.
Then run SLAM. It is recommended to run synchronous SLAM on a remote PC to get a higher
resolution map.
ros2 launch turtlebot4_navigation slam_sync.launch.py
Asynchronous SLAM can be used as well.
ros2 launch turtlebot4_navigation slam_async.launch.py
Launch Rviz2
To visualise the map, launch Rviz2 with the view_robot launch file.
ros2 launch turtlebot4_viz view_robot.launch.py