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I have gotten AMCL to work with the LaserScanMatching node using just a Lidar. I set the fixed frame in LaserScanMatching to odom and the base frame to base_link. In AMCL it uses the intuitive parameter names, odom frame is odom, base frame is base_link. The tf tree then goes map -> odom by amcl, odom -> base_link by laser_scan_matching.

I will try to get this working with hector slam also as the odometry, if anyone has gotten that please let me know how!

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