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Hi @sinou00,

The problem you proposed is basically what SLAM approaches try to solve. The Simultaneous Localization and Mapping problem tries to generate a map of the environment while localizating yourself in it. There are multiple ways to do this, but as a first attemp I should recommend to read about gmapping package.

The only thing you will need for gmapping to work is a proper tf tree (that I assume you have since you are using a turtlebot) and a sensor producing LaserScan reads. With this you should be able to launch a gmapping node that will convert the laser reading in a occupancy_grid that you will be able to save with the map_server package.

Maybe this tutorial helps you with this tasks.