.. rubric:: Simultaneous Localization and Modulation

Ensure the h1 services are running and then also launch

.. code-block:: bash
    
    ros2 launch h1_navigation slam.launch.py 

You can begin mapping using the `teleop` at **0.2m/s** with the keyboard. Once you are satisfied with your map you can export it by running the following command:

.. code-block:: bash

    ROS_DOMAIN_ID=10 ros2 run nav2_map_server map_saver_cli -f /opt/mybotshop/src/mybotshop/h1_navigation/maps/custom_map --ros-args --remap map:=/h1_unit_001/map
    ROS_DOMAIN_ID=10 ros2 run nav2_map_server map_saver_cli -f /opt/mybotshop/src/mybotshop/h1_navigation/maps/custom_map_2 --ros-args --remap map:=/h1_unit_001/map


- Rebuild so that the maps can be found (This is required if the map name is not **map_** otherwise it will directly work)

.. code-block:: bash

    colcon build --symlink-install

Then source the environment

.. code-block:: bash

    source /opt/mybotshop/install/setup.bash

.. rubric:: Odometry Navigation

The odometry-based navigation is launched by executing:

.. code-block:: bash

   ros2 launch h1_navigation odom_navi.launch.py 

.. rubric:: Map Navigation

The map-based navigation is launched by executing:

.. code-block:: bash

   ros2 launch h1_navigation map_navi.launch.py

.. rubric:: GPS Navigation

Not supported