Answer by Mehdi. for Hi guys,does anyone know of a relatively cheap sensor solution for 2D mapping? don't need it to be (laser) accurate. just good enough to build a 2D map for some basic indoor navigation job.Sonar, IR, anything that might do the job.UPDATE: i also found LiDAR-Lite i guess its fairly new to the marker. it is also very cheap but it should be modified to cover 360 degree around it. anyone tried it before?Thanks for the ideas n answers.

An [Xtion](http://www.asus.com/Multimedia/Xtion_PRO/) from Asus is also enough for indoor navigation. A drawback would be its limited field of view. An example of using it with a turtlebot for navigation can be found [here](http://wiki.ros.org/turtlebot_navigation/Tutorials/indigo/Build%20a%20map%20with%20SLAM).