.. rubric:: Simultaneous Localization and Modulation

Ensure `g1_bringup` is running, then launch:

.. code-block:: bash

    ros2 launch g1_navigation slam.launch.py

Begin mapping using teleop at 2 m/s. Once mapping is complete, save the map:

.. code-block:: bash

    ros2 run nav2_map_server map_saver_cli -f map_

Rebuild workspace:

.. code-block:: bash

    colcon build --symlink-install --cmake-args -DCMAKE_BUILD_TYPE=Release

.. rubric:: Odometry Navigation

The odometry-based navigation is launched by executing:

.. code-block:: bash

   ros2 launch g1_navigation odom_navi.launch.py

.. rubric:: Map Navigation

The map-based navigation is launched by executing also ensure a map is generated and built in the ROS package, then launch:

.. code-block:: bash

    ros2 launch g1_navigation map_navi.launch.py