Using Cyril course on yourtube on slam and three parts series of iterative close point, Probabilistic robotics and introduction to mobile robotics as well as a couple of papers
These contains some implimentaion of slam and localisation algorithms a few are excercies but rest will be compatibele with simulator
I own no credit to the simulator used
This is a map building algorithm and is required to use localisation algorithms
provisions to be able to switch slam algorithms will be added maybe with args 🙈