I had instlled my Open Simple Lidar to the old Roomba and tested it with ROS (including Hector SLAM):
Photo of the lidar installed at the Roomba:
The left board is Orange Pi PC running ROS nodes (Lidar node, Roomba node, Hector SLAM).
All robot controlling was manual (using keyboard).
The resulting map of the rooms:
This map was created with lidar working at 2 deg angular resolution mode.
Also I have published Firmware code and lidar ROS node at Github.
Next step is increasing parameters of Lidar by optimizing it's firmware.