Hi all,
I am figuring out a way to manipulate map building using Hector SLAM. I understand that hector mapping converts laser scan msgs into a point cloud for mapping. I am trying to implement the [laser_ortho_projector](http://wiki.ros.org/laser_ortho_projector) node to run with Hector SLAM because I am planning to tilt my RPLidar A2 sensor at a fixed angle of 20deg. Is there a way to make Hector mapping build the map using the transformed point cloud data of the base_ortho frame instead of the current scanmatcher frame? (I do not have an imu)
Thanks in advance!
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