slamtoolbox.md

sudo apt install ros-humble-slam-toolbox

Copy config file to our ws in order to change it

cd /opt/ros/humble/slam_toolbox/config/mapper_params_online_async.yaml ros2_ws/lidar/src/

open this yaml file and change to
base_frame: base_link
save file

ros2_ws/lidar/src/

git clone https://github.com/MAPIRlab/rf2o_laser_odometry.git

ros2_ws/lidar/src/rf2o-laser_odomerty/launch/rf2o-laser_odomerty.launch.py/ \
Change odom_topic' : '/odom',
save file

ros2_ws/lidar/src/rf2o-laser_odomerty/

colcon build --symlink-install

When it does not work the first time, build again.