Mapping with known poses in GraphSLAM

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I am trying to implement an SLAM strategy based on the iSAM optimization scheme. The approach, when used to generate grid maps, calculates the exact set of robot poses (trajectory) and then calculates the map given the set of poses and the corresponding (e.g) laser scan at each pose.

Do you know of any available mapping package in ROS that calculate the map given the exact poses and the laser scans?