I have simulated RPLidar and Turtlebot 2. I've tried looking into how I can get the files responsible to localization and navigation to accept the LiDAR as the sensor. I couldn't figure it out so now I'm looking for SLAM and Navigation ROS packages that can create an occupancy gridmap with LiDAR and provides information(resolution and origin).And also, I would like to be able to navigate through and an environment with known map. Does anyone know of any such packages that are easy to use?