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There are many pre-existing SLAM packages available in ROS. Each has different performances. Most packages have easy integration tutorials on ROS wiki.

The most common 2D SLAM packages are - gmapping, hector_slam, MRPT slam

For 3D SLAM, I haven't found a lot of support but here are a couple that might be useful. Some of them are not supported for ros-indigo so you might have to modify a little bit - RGBD slam, ICP

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