Hi, everybody! I'm new to ROS, and I really don't know whether my idea can be achieved in ROS.

First, I want to build my own 3D map, like in Gazebo - Building Editor.

Then, using this 3D map, I want to test a few Slam algorithms to see their difference in pose-estimation. In this section, only 2D map will be create by one laser sensor. In addition, another laser sensor will record the z-axis information of the stuffs in the 3D map that I build.

Last, I will choose the best SLAM algorithm perfoming in pose-estimation, and create 3D map using the information from laser sensors.

So, I have questions below: 1. How to draw or build a 3D map, like in Gazebo - Building Editor or other software? (this question is not important)

1. How to use the map I build to run various SLAM algorithms? It means how to configure files to apply my map in .launch file and run a robot in it.

2. Where can I find existing SLAM algorithms bag? And how to run them?

3. Should I build my own robot model with two laser sensors? (one for X-Y, and another for Z).

I don't know if my idea can be achieved in ROS, or if it is difficult. Plz give me some suggestion. BTW, I'm a senior student from China, so if there is any Chinese tutorials about my questions, please recommend them to me! Thanks a lot!