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When I use the neato with Hector SLAM, I use a launch file that came with the tutorial that included the needed TFs published as static transforms. If you are publishing your own TFs with the same names you may be having a conflict. Otherwise, check your launch file and see which TFs start with the launch. The only thing that should be required from you for Hector and neato is the laser scanner. BTW: Even when that launch works for me, I get the 2nd error you show.