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I could get something that you don't expect from hector_mapping by setting "use_tf_scan_transformation" false. (Unless it keeps complaning.) I ran "mapping_default.launch" as you mentioned.

I could get something that map entire large area with hector_mapping. Thank you don't expect for launch file and the self enplaning tutorial. I think it would be good to public if you could include this bag file and launch file to your repo then other ppl could have more idea from hector_mapping by setting "use_tf_scan_transformation" false. (Unless it keeps complaning.) it. All bag files are free to use with copyrights. In addition, this would be good comparison with laser_scan_matcher(scan_tool) and gmapping since they were failed this particular environment(two parallel walls.). I ran "mapping_default.launch" as you mentioned.also could generate demonstration footage for comparison. Cheers,