- Launch simulation
ros2 launch butlerbot_gazebo simulation.launch.py
- Edit slam toolbox config and launch slam toolbox
- change slam toolbox mode in config file
butlerbot_localization/config/mapper_params_online_async.yaml
mode: mapping
- and launch it
ros2 launch butlerbot_localization localization.launch.py
- Save the map using
SlamToolboxPlugin Panel
