First we need to install ROS1 on PC remote Open the terminal and enter below commands $ sudo apt update $ sudo apt upgrade $ wget https://raw.githubusercontent.com/ROBOTIS-GIT/robotis_tools/master/install_ros_melodic.sh $ chmod 755 ./install_ros_melodic.sh $ bash ./install_ros_melodic.sh

then Install Dependent ROS 1 Packages Open the terminal and enter below command $ sudo apt-get install ros-melodic-joy ros-melodic-teleop-twist-joy
ros-melodic-teleop-twist-keyboard ros-melodic-laser-proc
ros-melodic-rgbd-launch ros-melodic-depthimage-to-laserscan
ros-melodic-rosserial-arduino ros-melodic-rosserial-python
ros-melodic-rosserial-server ros-melodic-rosserial-client
ros-melodic-rosserial-msgs ros-melodic-amcl ros-melodic-map-server
ros-melodic-move-base ros-melodic-urdf ros-melodic-xacro
ros-melodic-compressed-image-transport ros-melodic-rqt*
ros-melodic-gmapping ros-melodic-navigation ros-melodic-interactive-markers

after that Install TurtleBot3 via Debian Packages. $ sudo apt-get install ros-melodic-dynamixel-sdk $ sudo apt-get install ros-melodic-turtlebot3-msgs $ sudo apt-get install ros-melodic-turtlebot3 $ cd ~/catkin_ws/src/ $ git clone -b melodic-devel https://github.com/ROBOTIS-GIT/DynamixelSDK.git $ git clone -b melodic-devel https://github.com/ROBOTIS-GIT/turtlebot3_msgs.git $ git clone -b melodic-devel https://github.com/ROBOTIS-GIT/turtlebot3.git $ cd ~/catkin_ws && catkin_make $ echo "source ~/catkin_ws/devel/setup.bash" >> ~/.bashrc

then Set TurtleBot3 Model Name $ echo "export TURTLEBOT3_MODEL=burger" >> ~/.bashrc $ echo "export TURTLEBOT3_MODEL=waffle_pi" >> ~/.bashrc

after that we need to install gazebo and SLAM Simulation pakeages so first we will do gazebo Simulation Install Simulation Package $ cd ~/catkin_ws/src/ $ git clone -b melodic-devel https://github.com/ROBOTIS-GIT/turtlebot3_simulations.git $ cd ~/catkin_ws && catkin_make then $ export TURTLEBOT3_MODEL=waffle $ roslaunch turtlebot3_gazebo turtlebot3_world.launch $ roslaunch turtlebot3_teleop turtlebot3_teleop_key.launch

now we will install SLAM Simulation $ export TURTLEBOT3_MODEL=burger $ roslaunch turtlebot3_gazebo turtlebot3_world.launch then $ export TURTLEBOT3_MODEL=burger $ roslaunch turtlebot3_slam turtlebot3_slam.launch slam_methods:=gmapping then $ export TURTLEBOT3_MODEL=burger $ roslaunch turtlebot3_teleop turtlebot3_teleop_key.launch

it will open gazebo and RViz and you can work in the map Also, by last command you can control robots by (w-s-x-a-d) to make move on around the map.

about how to save the map, use this command and it will save it. $ rosrun map_server map_saver -f ~/map