Hector mapping with the XV-11 lidar

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I am trying to use the XV-11 to build a map using the hector mapping package here http://wiki.ros.org/hector_slam

I am able to do this tutorial http://wiki.ros.org/xv_11_laser_drive... to view the XV-11 data in rviz and I am able to do this tutorial http://wiki.ros.org/hector_slam/Tutor... to build a map with a recorded bag file.

What I would like to do is a build a map with my XV-11 in real time.

I have tried to run the XV-11 driver while at the same time running "roslaunch hector_slam_launch tutorial.launch" however I get an error in the laser scan " For frame [neato_laser]:Fixed Frame [map] does not exist "