Dear all Hi. I am now trying to use hectorslam and hectorlocalization same as hectorquadrotor. I have 2D hokuyo lidar, IMU and 1D height sensor. When I launch all the program, 2D map, and laser result at current position could be seen at rviz. But the example movies in hectorquadrotor (indoor demo or outdoor demo) shows 3D map. Just like 3D laser scan result remains on the map. How is it possible? Is that mean hector_slam uses 3D map when IMU and height information available? How can I make same result? I really waiting for your answer. Thank you in advance.

Best regards.