Creating a map with Lidar on Neato without control

edit

Hi folks,

finding the tutorials linked in this question http://answers.ros.org/question/60363/neato-laser-scan-shows-impossible-datas-in-rviz/ I learned a lot of connecting Neatos lidar to ros.
But because I'm not so firm with ros (at work I'm only developing
complex C++ programs) I hope, someone can teach me a way to fullfill
my wish:
I owned a Vorwerk VR100 wit Rev. 64 PCB (so no additional serial ports
are known at this time). So I planned to connect a transparent bluetooth
module to the lidars port (only listening to the lidar datas during the
cleaning process). I don't want to control the robot at the first time.
Only passive scanning the lidar data.
I'd like to watch live, how a map of my house is created out of this
continuous lidar data without additional odometry as seen in this video:
http://www.youtube.com/watch?v=o9KzTR0vTXk
Later I want to add a trace along the way of the robot as wide as it's
brushes to find out skipped and not cleaned areas and to remove obstacles
causing such areas.
There was a video showing this procedure by the Neato developers with a
live view inside it's brain: http://www.youtube.com/watch?v=hf1zY8vRC2E
So is there a way, to create a map only using the lidar data without
odometry and without control of the robot?

Sorry for my poor english, I'm german.

Appendix 1:
system: Ubuntu 10.10 maverick
ros: cturtle
installation: http://xv11hacking.wikispaces.com/Connecting+to+ROS
and https://github.com/tu-darmstadt-ros-pkg/hector_slam

Made successfully "rosmake eigen", checked all entrys from wiki for ros+eigen but get furthermore on "rosmake hector_slam" the errors "Failed to find rosdep eigen for package ..." in a lot of packages and "Could not find module FindOpenCV.cmake or a..." in package hector_compressed_map_transport. Why it isn't possible to get a consistent IDE in linux or at least understandable an reproducible instructions to build a package?
Is there anyone, who has installed these packages successfully and can give me a hint, where I made the misstake processing the tutorials?

Appendix 2:
Now, with ubuntu 12.04 and ros fuerte I got no errormessages at the begin of the buildprocess. But now the process stops building "hector_geotiff_plugins":
/home/vr100/ros/hector_slam/hector_geotiff_plugins/src/trajectory_geotiff_plugin.cpp:117:109: Fehler: expected constructor, destructor, or type conversion at end of input
make[3]: * [CMakeFiles/hector_geotiff_plugins.dir/src/trajectory_geotiff_plugin.o] Fehler 1
make[3]: Verlasse Verzeichnis '/home/vr100/ros/hector_slam/hector_geotiff_plugins/build"

The source snippet out of trajectory_geotiff_plugin.cpp:
116 #include <pluginlib class_list_macros.h="">
117 PLUGINLIB_EXPORT_CLASS(hector_geotiff_plugins::TrajectoryMapWriter, hector_geotiff::MapWriterPluginInterface)

I made all here requested modifications for "Eigen" but had no success. He doesn't like the line with "PLUGINLIB_EXPORT_CLASS". Any hints?

Edit: Excluding this line from build will succeed the build process and all parts are to see in rviz. But this can't be the final solution because the geotiff_plugin now is not functional.

Appendix 3: Now I ... (more)