LiDAR SLAM Mapping with slam_toolbox

Goal

Bring up LiDAR mapping, save an occupancy-grid map and prepare it for navigation.

Procedure

1. Confirm a stable /scan and TF chain.
2. Launch slam_toolbox.
3. Drive slowly through the environment.
4. Save and review the resulting map.

Verification

Record the command output, confirm the expected ROS 2 topic or behaviour, and resolve power, TF and device-permission errors before continuing.