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You say you are on Melodic but the rosdep command mentions rosdistro as kinetic. Kinetic does not support Ubuntu 18.04 Bionic as far as I know. Apart from that, coming to the main error, hector_mapping package hasn`t been released for melodic yet. Looking at your installation command, it looks like you are following installation guide for Kinetic.

I suggest you install kinetic on a fresh install of Ubuntu 16.04 to get started with since many packages that you might want to start off with will not have be ported to melodic yet.

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