Hi there. My robot is not special: it is platform on tracks with encoders and lidar(Hokuyo). I can build a map via slamgmapping and hectorslam. But now i want the platform to build the map of unknown location autonomously.

I found solution only for turtlebot or inappropriate packages: explore, hectorexplorationplanner, it is suitable for older version of ROS (i work with Indigo). I will be grateful for all advises on this matter.