Using Pixhawk IMU data from MAVROS with Hector SLAM to transform Point Cloud

edit

Hello,

I have set up Hector SLAM to generate a map using the RPLIDAR A1M8. It works well, I am now looking at extrapolating this into a 3D point cloud using the /slam_cloud node outputted by hector_mapping. I have a distance sensor which I can use to measure the current height of the robot fine, however, I would like to factor in the IMU data from a Pixhawk to handle tilt of the robot. I have set MAVROS up and RVIZ can display the mavros/imu/data, but I do not know how to pass this to the hector_slam so that the resulting /slam_cloud is rotated in 3D space according to the IMU data. I have set up the Hector_imu_attitude_to_tf node which appears to be working, but I cannot figure out how to modify the hector config to use this node rather than the default tf. How would I go about modifying the launch files and configs so that it uses the modified tf? Will this actually transform the pointcloud?

Regards, Harry