This project contains the ability to do most everything any other available SLAM library, both free and paid, and more. Slam Toolbox is a set of tools and capabilities for 2D SLAM built by Steve Macenski while at Simbe Robotics, maintained whil at Samsung Research, and largely in his free time.
Macenski, S., "On Use of SLAM Toolbox, A fresh(er) look at mapping and localization for the dynamic world", ROSCon 2019. Macenski, S., Jambrecic I., "SLAM Toolbox: SLAM for the dynamic world", Journal of Open Source Software, 6(61), 2783, 2021. You can find this work here and clicking on the image below.
See tutorials for working with it in ROS2 Navigation here. It is also the currently supported ROS2-SLAM library. We've received feedback from users and have robots operating in the following environments with SLAM Toolbox: