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Scanmatch is not well ,

try changing map_update_angle_thresh value in hector_slam / hector_mapping / launch / mapping_default.launch

default value is 0.9

Scanmatch is not well ,

try changing map_update_angle_thresh map_update_angle_thresh value in hector_slam / hector_mapping / launch / mapping_default.launch

 <param name="map_update_angle_thresh" value="0.06" />

default value is 0.9