What is the best mapping/localization package for using pre-made maps?
I am currently attempting to map a building using the gmapping package, but I have some issues with the accuracy of my map. Right now I'm relying on the wheel odometry and a 2D laser scan. I figure I can make the map more accurate if I can use an existing floor plan and localize based on that, but I'm not entirely sure of how to draw and dimension a map for usage with a package. I also don't know which package would allow me to import this map and best localize based on it. Any help would be greatly appreciated.