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Thank you! That was super helpful.

I have a slightly different setup than yours with the RPlidar rotated -90 degrees around the z-axis for the blue coordinate system relative to the T265 in your picture (assuming that the Y-axis in your figure should be pointing in the opposite direction for a right handed system).

  • Do you have a quick-fix on how to change the three static_transform_publisher lines to make it work?
  • Is your experience that the addition of T265 made hector slam_better for mapping?
  • I am using hector_slam for handheld use where I am blocking sectors of the lidar. Do you think the addition of T265 will make hector_slam more robust? Any tips for making "occluded hector_slam" work better?