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The best way to have ground truth is to make the ground the robot rolls on (literally) :) Make a Gazebo world for your robot to roll around in so that you know exactly where everything is to compare to. Then run the different SLAM implementations over the _exact same_ mapping run's data of that space and compare.

As for comparison techniques, many are available, I'd recommend consulting other SLAM benchmarking papers for their methodologies and using one or a variant of one for formal comparison.

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