In this article we present a comparative analysis of various SLAM algorithms. We compared robot trajectories computed by three ROS-based SLAM algorithms to a reference trajectory obtained from Vicon motion capture system. For data acquisition purposes we used mobile robot with four omnidirectional (mecanum) wheels. Our mobile platform was equiped with following sensors: 3D lidar, a RGB-D camera and motor encoders. Experiments were conducted indoor in an office environment. Acquired dataset was used as an input data for all algorithms that we tested. Following algorithms have been taken into account: Livox Mapping, RTAB-Map and Cartographer.