pr2 complete SLAM process

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Hello,

I'm currently focusing on the way I can make a PR2 do SLAM in gazebo. I went through navigation stack tutorial, and pr2_2dnav_slam. The latter is quite interesting, but goals are still user-defined. So my question is : Does it exist an application doing autonomous SLAM i.e. making the robot explore his environment and decide which goals to reach to complete the map ?

I think it's doable using the simple_navigation_goals idea, but before spending time on that, I want to be sure I didn't miss something.