Hi guys! I am pretty new to hector slam, but I've been trying to add an Razor 9dof imu to coincide with my URG 04lx ug01 laser. I read all of the wiki, and its still not making sense to me.

so far, i have been able to create a 2d map with just the laser range finder alone. how do i now add the razor 9dof? (i can see the raw data by rostopic echo /imu)

Thanks!