How to add SICK TiM Lidar to TurtleBot?

Hi, I'm new to ROS. I'm using Ubuntu 12.04 and ROS Hydro. I got a TurtleBot 2 and want to use a laser scanner for mapping and navigation instead of the Kinect. I have a SICK TiM551 (Ethernet). I have already installed the sick_tim driver and the sick_tim551_2050001 node seems to be working fine. I can ping the sensor... I am looking for a tutorial on how add a SICK TiM lidar to a TurtleBot. I have already created a map using the Kinect by following the steps in "Build a map with SLAM" Tutorial: http://wiki.ros.org/turtlebot_navigation/Tutorials/Build%20a%20map%20with%20SLAM But I want to create and save a map with my SICK Lidar and not with the Kinect. Thanks,