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Hi! Please take a look at the node "laser_to_occupancy_grid" in this repository https://github.com/RiccardoGiubilato/ros_autonomous_car. Here I control a cheap car using an arduino with an ultrasonic sensor to build a very coarse map based on imu/wheel odometry. You can also find the arduino sketch and ready-to-use launch files.. Hope it helps! Riccardo