Using odometry from hector_mapping for move_base (Nav stack)

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Hi,

To run move_base (part of the Navigation stack), I need to provide an odom topic which move_base can subscribe to.

I use hector_mapping for odometry on my robot, and have set the pub_map_odom_transform option of my hector_mapping node to true to publish a tf between the map & the odom frames.

Is it possible to output odom as a topic from hector_mapping? If not, how should I go about constructing odom messages from hector_mapping topics? (I have a hunch that this is possible seeing as a tf from map to odom is available..)

Thank you in advance,

Ernest

Edit: Alternatively, is there a way in move_base to use the incoming map->odom tf for odometry (as opposed to the odom topic) ?