Using bruce-SLAM for external dataset with different sonar (p900)

[jumpmanaa04]

This is less of an issue that I am having with this repo more of an inquiry on how I might approach using this algorithm as a skeleton to apply it to different rosbag recorded using another type of AUV. It is of course using a different kind of sonar (P900) and I was wondering how to approach making some changes to the scripts and configurations of this repo so that I may run the slam.launch file for my rosbag.

I am fairly new to ROS and I wasn't sure how to approach a more complex set of packages as shown in this repository. I didn't want to destroy the functionality of the SLAM in the process of trying to change it for my purpose. Hoping to get some guidance or advice on how to approach this topic. Thanks.