Feature request

Instead of using AMCL and map_server, a user should be able to run a SLAM package such as Cartographer or gmapping to provide the map and localization info.

Feature description

This is a common usage model from ROS1 when mapping. Explore algorithms and RVIZ can then be used to drive the robot during mapping.

Implementation considerations

Currently the robot's pose is retrieved from the amcl_pose topic which isn't published by SLAM packages such as Cartographer.