# 12.6. SLAM 即時定位與地圖構建

**\[Remote PC 端]** 啟動 slam node

```
$ export TURTLEBOT3_MODEL=${TB3_MODEL}
$ roslaunch open_manipulator_with_tb3_tools slam.launch use_platform:=true
```

**\[Remote PC 端]** 啟動 teleop node

```
$ ROS_NAMESPACE=om_with_tb3 roslaunch turtlebot3_teleop turtlebot3_teleop_key.launch
```

**\[Remote PC 端]** 啟動 map\_saver node

```
$ ROS_NAMESPACE=om_with_tb3 rosrun map_server map_saver -f ~/map
```

![](https://3058168660-files.gitbook.io/~/files/v0/b/gitbook-legacy-files/o/assets%2F-LkXc5k_SFaP9gK2gsU8%2F-Ll0n37W252i0qrYy1E9%2F-Ll1014waw3QfS6o4CQs%2Fopen_manipulator_slam.png?alt=media\&token=9c40c551-d6c4-45ee-99d5-66cd0ded4252)
