I am learning about mapping. I am trying to create a map using slamgmapping with a simple wanderer code. I would like to save the map after it moving around. I know that I need to use the package mapserver with service map_saver but I don't know how to call this programmatically. Another question I have is with this type of wanderer robot, what is the best way to define when it should be stop? Should I based on timing? Thank you very much.