Hector Slam input IMU data

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Hi there,

I am running hector_slam in ROS Hydro with a Neato XV-11 laser and a Razor 9dof IMU.

The IMU has been included via hector_imu_attitude_to_tf.

In RViz everything looks good, I have a base_footprint frame that only moves on X and Y (and yaw) and attached to it a base_link frame that has additional roll and pitch movement.

Now my question is this:

Right now the IMU data is only transforming a frame but I guess that has no direct effect on the computation of hector_slam? Do I have to specify somewhere that hector_slam should consider the IMU data to increase its own accuracy? Or do I have to run an additional node for that, like hector_localization?