For achieving SLAM we rely on the great slam_toolbox package.
After the robot bring up, simply execute the provided launch file.
ros2 launch andino_slam slam_toolbox_online_async.launch.py
Several configuration can be forwarded to the slam_toolbox_node. By default, the configuration parameters are obtained from config/slam_toolbox_only_async.yaml. In case a custom file is wanted to be passed, simply use the launch file argument for indicating the path to a new file.
ros2 launch andino_slam slam_toolbox_online_async.launch.py slams_param_file:=<my_path>