I had installed 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 a lidar working in 2 deg angular resolution mode.

Also I had published Firmware code and lidar ROS node at the Github.

Next step is increasing parameters of the Lidar by optimizing  its firmware.