Generating a Map
================

This guide explains how to generate a map using the TurtleBot4.

Prerequisites
-------------

Make sure your PC and TurtleBot are connected to the same network.

Step 1: Check ROS_DOMAIN_ID
---------------------------

Before starting, ensure that the ROS_DOMAIN_ID is the same on both the TurtleBot and your PC.

On the TurtleBot
~~~~~~~~~~~~~~~~

Open a terminal and connect via SSH:

.. code-block:: bash

   ssh ubuntu@<ip_address>

Enter the password:

.. code-block:: bash

   turtlebot4

Check the ROS_DOMAIN_ID:

.. code-block:: bash

   echo $ROS_DOMAIN_ID

On your PC
~~~~~~~~~~

Open another terminal and check your configuration:

.. code-block:: bash

   nano ~/.bashrc

Scroll to the bottom and look for:

.. code-block:: bash

   export ROS_DOMAIN_ID=<value>

Make sure this value matches the one on the TurtleBot.

You can also check it quickly:

.. code-block:: bash

   echo $ROS_DOMAIN_ID

If the values are different, update them so they match.

Step 2: Launch SLAM (Mapping)
----------------------------

Start the mapping process using SLAM.

Terminal 1 – Start SLAM
~~~~~~~~~~~~~~~~~~~~~~~

.. code-block:: bash

   ros2 launch turtlebot4_navigation slam.launch.py namespace:=raphael

Note:
   The namespace may be different depending on your TurtleBot name.

Terminal 2 – Start Visualization
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

.. code-block:: bash

   ros2 launch turtlebot4_viz view_navigation.launch.py namespace:=raphael

Result
------

A visualization window will appear where the robot builds a map of the environment in real-time.