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The issue with calibration failing is probably due to the algorithm used to convert the scan of a wall to an angular measurement. On the Kinect, the field of view is very small (about 57 degrees wide), whereas your Hokuyo probably sees 180 degrees. Given that, your calculation for wall angle is seriously disturbed, since it uses all the scans. I'd suggest using dynamic_reconfigure to reduce the scan angle of the Hokuyo to about 60 degrees before calibration (you can use the full scan later on for map making).