Complete SLAM Implementation

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I have searched many places for implementing SLAM but did not find a complete solution . I am using a quadrotor with Asus Xtion Pro RGBD and I also have a Hokuyo LIDAR. Could someone please give the concise complete blueprint or roadmap of implementing the SLAM process in ROS taking one particular package as example. I know the theory behind it all and so can fiddle with the code, and make packages on my own. But being fairly new to the ROS framework, I'm facing a hard time getting the ideas together for implementation. I hope that someone who has passed through the mill will be able to guide me.