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Hi!

So AMCL is going to provide a pose? Can I use hector_slam to provide AMCL with the odometry information instead of laser_scan_matcher? Therefore it would have two separated occupancyGrid topics, one with the known map, used by AMCL and one with the map created by hector_slam. The main advance of that as compared to hector_slam alone is that my path planning algorithm can leverage on the awareness of the map for more efficiency. Thanks for your help!