FullSLAM in gmapping? [closed]

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Hello all,

I was wondering if there was a fullSLAM driver or a SEIF driver for ROS. I am using some recorded data, and it is quite a load... It needs the capabilities of a fullSLAM system to work well. Is there any recommendation for this? I could also use some info on how to tweak the gmapping parameters to help this work better too.

In addition, the Coroware Explorer robot is having some serious transform problems... I don't understand what is happening to create them... We're talking a twenty meter leap when you move a little. Any advice?

Thank you, -Hunter A.