Build using debug symbols

colcon build --cmake-args -DCMAKE_BUILD_TYPE=debug -DCMAKE_C_FLAGS=-g

Saving a map

To save a map

ros2 run nav2_map_server map_saver_cli -f my_map

Running ros nav

ros2 launch playground slam_launch.py 
ros2 run tf2_ros static_transform_publisher   0 0 0 0 0 0   base_link base_footprint
ros2 launch playground navigation_launch.py