ROS: install SLAM and SLAM Toolbox

Install SLAM

Install SLAM ToolBox:

sudo apt install ros-noetic-slam-toolbox

Copy configuration files in our catkin_ws folder:

cp /opt/ros/noetic/share/slam_toolbox/config/mapper_params_online_async.yaml ~/catkin_ws/src/motor_ros2/config/

Save your map:

rosrun map_server map_saver -f myHouse

Open you map:

rosrun map_server map_server /home/vmros/catkin_ws/src/motor_ros2/maps/house_sergio.yaml

Convert the Map into png Format

To convert the map to a png image file, you can use imagemagick.

sudo apt-get install imagemagick
convert my_map.pgm my_map.png

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