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I have, Here's a rundown of what I've discovered. I was never able to get GMapping to draw a good map with it. HectorMapping did a decent job, but the maps were always slightly to big and the navigation stack never seem to work with them, my robot kept getting lost.

I ended up pulling out the tape measure and using gimp to draw a map of my house. Using my hand drawn map the xv-11 does a real good job of keeping my robot localized, I'm please with it.