Hi
I've been trying to get a reliable map from hector_slam and gmapping using an XTION Pro.
Hector_slam creates a very accurate map but because of the slow frame rate suffers if the robot turns quickly "angle change too large"
So I have then tried using gmapping fused with laser_scan_matcher. This produces a poor quality map and is very slow to update between 5-10 seconds.
gmapping launch config:
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