[ros-users] Question regarding SLAM

Hey, there. I'm designing a robot whose primary sensory input is proprioception
through its six legs. I'd like to use ROS, and I'd like other forms of input
(e.g., visual) to be able to provide data to the "legs subsystem" and/or the
other way around. I'd like to know if the members of this board can provide me
with input regarding which of the existing SLAM libraries would be a most
appropriate starting point.

Thanks,

Robert