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the Issue was solved withe the following commands. if you are using waffle platform, you can follow below waffle specific command.

Update OpenCR firmware from TurtleBot3 RPi

$ export OPENCR_PORT=/dev/ttyACM0
$ export OPENCR_MODEL=waffle
$ rm -rf ./opencr_update.tar.bz2
$ wget https://github.com/ROBOTIS-GIT/OpenCR-Binaries/raw/master/turtlebot3/ROS1/latest/opencr_update.tar.bz2 && tar -xvf opencr_update.tar.bz2 && cd ./opencr_update && ./update.sh $OPENCR_PORT $OPENCR_MODEL.opencr && cd ..

Update the source code in your PC

$ cd ~/catkin_ws/src/turtlebot3
$ git pull
$ cd ~/catkin_ws && catkin_make

Then I launched below commands From PC,

$ roscore

from TurtleBot3

$ roslaunch turtlebot3_bringup turtlebot3_robot.launch

from PC,

$ export TURTLEBOT3_MODEL=waffle
$ roslaunch turtlebot3_slam turtlebot3_slam.launch slam_methods:=gmapping