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You can look in to Jin-W-FS's Pull Request at https://github.com/tu-darmstadt-ros-pkg/hector_slam/pull/45

I am also current trying to implement the features that you have mentioned.

You can look in to Jin-W-FS's Pull Request at https://github.com/tu-darmstadt-ros-pkg/hector_slam/pull/45

I am also ~~current~~ currently trying to implement the features that you have mentioned.

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