Hector SLAM Mapping Pointcloud

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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 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!