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I solved this problem with a lot of changes.
I use stage_ros to simulate the real world.
As I don't have thermal_camera, I delete the vicitims information in all the file .
The service getDistanceToObstacle
need to be renamed in hector_map_server
and I also change the TF .
I need to say, it's not easy for me to make it, but now, I make it.