Looking for a Beginners Guide to Navigation Stack and SLAM with Gazebo

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As an undergrad working on SLAM algorithms, I'm looking for a step-by-step introduction to ROS navigation stack and gazebo. I am thinking of creating a simple box with a horizontal LiDAR array attached, that can be moved around in a maze-like world by keyboard controls whole doing occupancy grid mapping. Later on, I am planning to tweak the algorithms and number of sensors.

I am familiar with ROS: creating nodes, publishing messages in both C++ and Python. But I have never used packages such as tf, gmapping and amcl. I want to gain experience and insight on how to use them

Any resources you can point me to would help a lot. Thank you.