[Nav2] Create 2D maps of physical spaces using Nav2 and RPLidar

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proof
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code

Goal
Create a pgm file for the occupancy grid

Why

  • Use only LIDAR to create a map in Nav2

Not sure if this is the right way, open to feedback! LIDAR-only map creation is alluded to in the Nav2 docs, but I couldn’t seem to find how to actually do it.