Manual

proccessing power. This approach is ideal for use on the TurtleBot 4's Raspberry Pi. The default
parameters for asynchronous SLAM use a reduced map resolution to further improve
performance on the Pi.
Launching asynchronous SLAM:
ros2 launch turtlebot4_navigation slam_async.launch.py
Saving the map
Once you have driven the robot around and generated the map, you can use the following call
to save the map to your current directory:
ros2 service call /slam_toolbox/save_map slam_toolbox/srv/SaveMap "name:
data: 'map_name' "
This will generate two files: map_name.yaml and map_name.pgm. You can open the .pgm file
with an image editor to view your map.