Getting up and running with SLAM

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Hi ROS community,

for a research project I would like to implement a SLAM system based on IMU data and some other sensor modality for which I want to investigate different signal processing methods.

Ideally I would like to start from a known good pointcloud-based SLAM pipeline that is modular and easy to swap out submodules to investigate different scan matching and loop-closure detection strategies.

Does anything like this exist? I have come across Cartographer but unfortunately it seems like a fairly rigid system that only allows the pre-defined parameters to be tuned and doesn't easily allow different algorithms to be evaluated.

Thanks for any pointers!