Using saved map and control the robot with using Python

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Hello. I'm beginner at using ROS and SLAM algorithm. I would like to ask a question about controling system. I just followed the TF trainings and mapping navigation on turtle, I can navigate the robot however, what kind of steps should I use to make my mapping and navigation. For example:

• Do mapping.
• Then do something etc.
• Do location

like that.

So I think, I need a launch file for the launch the robot. But how can I use my mapping on that system? I looked at the some tutorials but I could'nt understand.

Have a nice day!