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SLAM Karto (https://github.com/ros-perception/slam_karto) is another option, but it's not well documented on the ROS wiki.

You might also be interested in this paper: "An Evaluation of 2D SLAM Techniques Available in ROS"

SLAM Karto (https://github.com/ros-perception/slam_karto) is another option, but it's not well documented on the ROS wiki.

You might also be interested in this ~~paper:~~ paper (I'm not affiliated): "An Evaluation of 2D SLAM Techniques Available in ROS"

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