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Hi,

I can't see how you would this from the existing parameters. I think you could easily hack something like http://wiki.ros.org/depthimage_to_laserscan, or http://wiki.ros.org/topic_tools/relay to read and or republish laser messages when they're within the desired window angle of measurement.

Mark

Or indeed hack HectorSlam just to process laser range measurements when they're of interest

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