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+# SLAM Setup Guide: Mapping & Localization
+
+This guide explains how to set up and run Simultaneous Localization and Mapping (**SLAM**) using ROS 2. It also includes common troubleshooting tips.
+
+---
+
+## 1. Dependencies
+
+You'll need these packages installed for a basic SLAM setup:
+
+- **ROS 2 Humble**: The robotic operating system (for Ubuntu 22.04).
+- **SLAM Package**: `slam_toolbox` is a robust and widely used choice.
+- **Visualization**: `rviz2` is essential for viewing the map and robot pose.
+- **Navigation Tools**: `nav2_bringup` and `nav2_map_server` are needed for a full navigation stack and map saving.
+
+To install everything, run the following command:
+
+```bash
+sudo apt update
+sudo apt install ros-humble-slam-toolbox ros-humble-nav2-bringup ros-humble-rviz2
+````
+
+-----
+
+## 2\. Running SLAM
+
+Before running any ROS 2 commands, always **source your ROS 2 environment**:
+
+```bash
+source /opt/ros/humble/setup.bash
+```
+
+### To build a map (mapping)
+
+Run this command while driving the robot around in an unknown environment.
+
+```bash
+ros2 launch slam_toolbox online_async_launch.py
+```
+
+### To use an existing map (localization)
+
+This command localizes your robot within a pre-built map. Replace `/path/to/map.yaml` with the location of your map file.
+
+```bash
+ros2 launch slam_toolbox localization_launch.py map_file:=/path/to/map.yaml
+```
+
+-----
+
+## 3\. Saving Maps
+
+Once you've built a satisfactory map, save it using the `map_saver_cli` tool.
+
+```bash
+ros2 run nav2_map_server map_saver_cli -f ~/maps/my_map
+```
+
+This command will create two files in the `~/maps/` directory:
+
+  - `my_map.pgm`: An image of the occupancy grid map.
+  - `my_map.yaml`: A metadata file containing information like the map's origin and resolution.
+
+-----
+
+## 4\. Troubleshooting Common Issues
+
+### ❌ TF Errors (Missing Transforms)
+
+**Problem:** "No transform from `odom` to `base_link`"
+
+**Fix:** Ensure your robot is publishing the required transformations (`odom` → `base_link` → `laser`). You can check this with the `tf2_echo` tool.
+
+```bash
+ros2 run tf2_ros tf2_echo odom base_link
+```
+
+### ❌ Map Not Showing in RViz
+
+**Problem:** The map display is blank.
+
+**Fix:** Verify that the `/map` topic is being published.
+
+```bash
+ros2 topic list | grep map
+```
+
+### ❌ Map Saving Failed
+
+**Problem:** `[ERROR] [map_saver_cli]: Failed to save map`
+
+**Fix:** Make sure the destination folder exists and you have write permissions. The default save location is `~/maps`.
+
+```bash
+mkdir -p ~/maps
+chmod a+rw ~/maps
+```
+
+### ❌ High CPU Usage
+
+**Problem:** SLAM runs slowly, and your system becomes unresponsive.
+
+**Fix:** Reduce the frequency of laser scans or downsample the scans in your launch file to decrease the computational load.
+
+### ❌ Localization Drift
+
+**Problem:** The robot's estimated position slowly drifts from its true location.
+
+**Fix:** While `slam_toolbox` can handle localization, for robust, long-term localization with a static map, consider using the **Adaptive Monte Carlo Localization** (`amcl`) package, which is part of the `nav2` stack.
+
+-----
+
+**Note:** Once a map is saved, it can be reused later for localization without needing to rebuild it. This is the core concept of separating mapping from localization.
+
+```
+```