Fixing Robot Model and TF - Rotated by 180 Degrees

sudo apt-get install ros-humble-irobot-create-common-bringup
sudo apt-get install ros-humble-irobot-create-description

To rotate the Lidar frame, replaces the sensor launch file

ros2 run tf2_ros static_transform_publisher 0 0 0.2 3.14159 0 0 base_link laser

To display the robot model by adding robot description

ros2 launch irobot_create_common_bringup robot_description.launch.py

Adding tools to throttle the LiDAR, needed on Raspberry Pi

https://github.com/ros-tooling/topic_tools/tree/humble
Do symlink install with these
Throttle the scan topic into another topic called /scan_throttled

ros2 run topic_tools throttle messages /scan 1.0 /scan_throttled

To drive with keyboard

ros2 run teleop_twist_keyboard teleop_twist_keyboard

To launch the SLAM toolbox, have edited topic to /scan_throttled

ros2 launch create3_lidar_slam slam_toolbox_launch.py

Adding scan_frequency to sllidar did not work.