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I know it's quite late to answer this but I recently did compare two results from two SLAM packages. For the comparison I used a Python package called evo that is meant to be used to compare odometry and SLAM.

I have described my full workflow in this post but in short it consists of the following steps:

• Record a bag file while the robot is moving around space
• Replay the data while running slam packages of your choice, record these as bag files again
• Run a script that will convert the logged tf to a message supported by evo on every bag file
• Merge two bag files

What I was missing in my experiments is groundtruth but if you have this information you will easily be able to add it.