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did you read http://www.ros.org/wiki/hector_slam/Tutorials/SettingUpForYourRobot ?

you have to follow the instructions under 2 (Use without odom frame). I.e. set both base_frame and odom_frame to your hokuyo/robot frame in the launch file. As a starting point maybe take a look at the given launch files in hector_mapping/launch (if i remember correctly).

maybe try that, and if it still does not work do "rosrun tf view_frames" and check if hector mapping publishes a transform from /map to /yourRobotFrame