Here is the tutorial guide you will use for the lab involving ROS and the Pioneer robot. You do not need to print it, rather it is recommended that you download it on the computer in the lab, since copy-paste will be useful.
Good introduction about GraphSLAM can be found in Giorgio
Grisetti, Rainer Kummerle, Cyrill Stachniss & Wolfram Burgard , A Tutorial
on Graph-Based SLAM, Department of Computer Science, University of Freiburg, 79110
Freiburg, Germany. Graph SLAM is quite complicate, just try to understand the main ideas.
As additional reading material, general tutorial papers about SLAM can be found in
Durrant-Whyte, H., & Bailey, T. (2006). Simultaneous localization and mapping: part I.
Robotics & Automation Magazine, IEEE, 13(2), 99-110.
Bailey, T., & Durrant-Whyte, H. (2006). Simultaneous localization and
mapping (SLAM): Part II. IEEE Robotics & Automation Magazine, 13(3),