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This sounds like you might be experiencing a time sync problem between computers. The rate at which hector_mapping publishes tf data suggests that it either cannot keep up with the incoming LIDAR data, or there is a tf/time sync problem that causes huge waiting delays. I tested things on a RPi2 as described in MappingUsingLoggedData and CPU consumption was about 10%, so I don't think the machine is too slow normally.
Did you compile hector_mapping yourself? If so, you should specify the build type:
catkin_make -DCMAKE_BUILD_TYPE=Release
Otherwise, things might get built without optimization and can be very slow.
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