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The bag file you are using has "holes" of ~0.5s in it every 10-15s (see the attached rxbag timeline).
It appears the hole with missing data at 45.8s leads to an error of the scanmatcher of hector_mapping. It might be possible to fix this error with parameter tuning, but a bagfile without data outages will probably also work better (given that hector_mapping works well in the first 45s of the bagfile, even despite the erroneous bagfile).
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The bag file you are using has "holes" of ~0.5s in it every 10-15s (see the attached rxbag timeline).
It appears the hole outage with missing data at 45.8s leads to an error of the scanmatcher of hector_mapping. The robot is rotating pretty fast at that time, which makes it hard to recover from this. It might be possible to fix this error with parameter tuning, but a bagfile without data outages will probably also work better (given that hector_mapping works well in the first 45s of the bagfile, even despite the erroneous bagfile).
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