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Managed to limit the scan by editing the hector mapping source file,hectorMappingRos.cpp. Set a fixed range if [i] for scan range and pointcloud data container from 270-360deg and 0 to 90deg. However, this gave rise to an exponential increase in inaccuracies in map building.

Managed to limit the scan by editing the hector mapping source file,hectorMappingRos.cpp. Set a fixed range if for [i] - for the scan range and pointcloud data container from 270-360deg and 0 to 90deg. However, this gave rise to an exponential increase in inaccuracies in map building.