Hi i am running ros medoldic, i want to use a ydlidar x4 and hector slam without odometry, I am running a rosbag file to simulate the time, my tf tree looks like( because i cant post pictrues) world -> map -> basefootprint ->laserframe

it seams to be very slow I dont know if its my tf tree i added in the launch file is affecting my problem

Ive added these lines to the ydliadar laser scan launch file

 <node pkg="tf" type="static_transform_publisher" name="link1_broadcaster" args="1 0 0 0 0 0 1 /world /map 100" />

 <node pkg="tf" type="static_transform_publisher" name="link2_broadcaster" args="1 0 0 0 0 0 1 /map /base_footprint 99" />

(this might not be best practice)

Thanks