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What robot should I use for SLAM?

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I am in algorithm development and I just need a robot to test on in Gazebo simulation. I have tried several robots I found online and none seem to work quite right, so I am looking for advice about a robot simulation for ROS Melodic, Gazebo 9, that is compatible with gmapping or hector, and ideally with frontier exploration (explore_lite package). My only specific sensor requirement is that it have lidar. BTW, I have tried the Husky (bad maps, can't figure out why), the Turtlebot3 (not compatible with explore_lite because it doesn't use move_base for commands), and the Summit XL and XLS (bad localization, both). Any advice would be greatly appreciated!

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