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This question is central in autonomous navigation; with a bad map, you can't make good decisions. I would not use a floor plan for a map, since what matters is what the robot perceives to be the reality, which is a function of it's sensors. I agree that good sensors and wheel encoders are important, although I'm not sure good wheel encoders are vital.

Personally, I'm having a lot of luck with RTABMap for this purpose. It provides the occupancy map and is quite flexible - you tell it to subscribe to whatever data you have, and it will use the data to provide localization and mapping. Tons of parameters to tune for your use case.