SLAM with ROS2

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Hello, I was also facing a similar problem. Then I decided to use turtlebot 4 package SLAM and I am giving you the commands that helped me solve this problem. I hope this helps you: The first step was to Install the odometry package which isrf2o_laser_odometry The second step was to start the Lidar node using: ros2 launch rplidar_ros rplidar.launch.py The third step is to start odometry from ros2 workspace:ros2 launch rf2o_laser_odometry rf2o_laser_odometry.launch.py laser_scan_topic:=scan The fourth step is to do static transformation:

ros2 run tf2_ros static_transform_publisher 0 0 0 0 0 0 base_link laser

ros2 run tf2_ros static_transform_publisher 0 0 0 0 0 0 base_link odom

The fifth step was to start the SLAM algorithm:

ros2 launch turtlebot4_navigation slam.launch.py params:=/full/path/to/slam.yaml

The final step is to Bring up the robot:

ros2 launch turtlebot4_viz view_robot.launch.py

I guess the best way to start would be to follow Nav2 tutorials or see how it is done on other robots. In short, you need to provide odometry, tf transformations, and then launch the navigation stack (see Nav2 bringup directory).