MapGen.md

@@ -7,6 +7,18 @@ By driving around the Turtlebot and using the Astra Orbbec 3D camera,  to scan t
 ⦁	On third terminal, run the RVIZ to see the visualization (see what robot sees)  
 `roslaunch turtlebot_rviz_launchers view_navigation.launch`  
 After the RVIZ is opened , add the image viewer so you could see a live image from the Astra camera, to add the image viewer follow the bellow steps:  
+⦁	on the bottom left corner of the RVIZ, click the add button, this will open a popup window “see Figure8”, from this window select the “image” and press “ok”  
+⦁	once the image viewer is added, don’t be frustrated if no image is shown yet, the next step is to point this image viewer to the right ⦁	topic, in this case chose the “/camera/rgb/image_raw” topic from the list “see Figure9”, if everything’s are Ok you should be able to see the live image from the robot.  
+⦁	on the fourth terminal, run the teleop so you could drive around the robot:  
+`roslaunch turtlebot_teleop keyboard_teleop.launch`
+⦁	After the map of entire area is generate, the final step is to store it for future use:  
+`rosrun map_server map_saver -f /a/directory/of/your/desire`
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