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SLAM is a problem solved in ROS multiple times. slam_toolbox is one of the newer ways to solve it and has probably a focus on performance rather than beginner-friendly documentation.

Some of the older slam approaches also have tutorials on how to get started:

http://wiki.ros.org/slam_gmapping/Tutorials
https://google-cartographer-ros.readthedocs.io/en/latest/demos.html

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