Hello! I have working gmapping for my robot. Now i want to use hector_slam instead of it. But have some problems. I use laser data and odometry. in gmapping everything works fine. But when i try to use hector_slam i have message SearchDir angle change too large. And map building wrong.

I also use move_base with both of it.

Here is my launch files for gmapping and hector_slam: gmapping launch hector_slam launch

And launch.xml (for tuning up): gmapping launch.xml hector_slam launch.xml

Here fragment of my tf tree in hector_slam (please do not pay attention to imu_frame :))

Please tell me what's my mistake and how can i go from gmapping to hector_slam?