Comment by herodotus for Do you have a map already or do you want to build a complete map of your environment? In the latter case, you could try the exploration module from: http://wiki.ros.org/nav2dIt completely explores an unknown environment and builds a map using 2D Laser-Scanner.

Paul,I find your package is a good job.I'm a newer to ROS and when I use your package I have some trouble that I can't build it.when I use the command catkin_make in the root of my own workspace there are some errors.It says "Could not find a configuration file for package costmap_2d and move_base_m