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Hi Daniel, the comparatively short range, high noise and low field of view of the Kinect data make it hard to use with a unmodified version of hector_mapping (see also this related Q/A). There are some possibilites for improvement, but I'm currently unable to work in this direction. Approaches like RGB-D SLAM better leverage the kind of data the Kinect produces, but OTOH have much higher CPU requirements.

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