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It's theoretically possible to let the Turtlebot drive on its own and generate its own maps, but I've found that I get much more accurate maps when I drive the robot around myself using teleop. This is detailed in the tutorial:
http://wiki.ros.org/turtlebot_navigation/Tutorials/Build%20a%20map%20with%20SLAM
There are some good posts out there detailing the methodology to get more accurate maps. Some things that have worked for me are:
Hope this helps