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Hi, just stumbled across your question. Might be a little late, but the following should allow to use both at the same time: * Remap the map topic of hector_mapping away * Set the pub_map_odom_transform parameter to "false" * If you want odometry published, set the pub_odometry parameter to "true"

Hi, just stumbled across your question. Might be a little late, but the following should allow to use both at the same time: * time:

• Remap the map topic of hector_mapping away * hector_mapping away
• Set the pub_map_odom_transform pub_map_odom_transform parameter to "false" * "false"
• If you want odometry published, set set the pub_odometry parameter to "true"

/edit: Duplicate of this Q/A