Map generation with Ardurover

Hi all,
We know the working of ardurover with any of the hardware (beaglebone or pixhawk), my requirement is rover working in a closed environment. Currently the Modes supported in it are for Navigation, not for generating a 2D map within the area i guess(correct me if i am wrong). As it gives the current position of itself but not about the environmental details.
I want to ask is it possible to generate a 2D map by running rover inside an area?