Map the apartment once and reuse the map forever

Most home robots don't need continuous SLAM. Drive slowly (or teleop) once with slam_toolbox or Cartographer, save the map, then boot in AMCL/localization mode for patrol, go-to, and docking. Label rooms as named poses in a YAML file so voice and agent skills can say "kitchen" instead of coordinates.

Curated seed / example — standard ROS 2 mapping workflow packaged for first-time hobbyists.

Tip: map when furniture is in its "normal" place; remapping every time you move a couch is optional, not required.