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How to implement RANSAC algorithm and kalman filter or particle filter with ROS packages

I'd like to implement those algorithms by using ROS packages to solve one way the SLAM problem. I know that gmapping, Rviz, slam_gmapping and robot_pose_ekf (for extended kalman filter) could be useful packages, but I'm kind of lost. I don't ask a tutorial because the next days I'm going to start studying deeper this subject, but I need orientation in the procedure.

"a possible way to implement RANSAC algorithm" http://pointclouds.org/documentation/tutorials/random_sample_consensus.php

Thanks in advance

Thanks in advance