"SearchDir angle change too large" kills hector_mapping

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Hi, even tho this question is pretty old, I had the same struggle and couldn't find something helpful. I solved the problem now and I hope I can help other people by sharing my solution:

probably your tf to scanmatch is too slow (static_transform_publisher x y z yaw pitch roll frame_id child_frame_id period_in_ms) and you simply have to set a lower value for period_in_ms than before, e.g.

<node pkg="tf" type="static_transform_publisher" name="map_scanmatcher_broadcaster" args="0 0 0 0 0 0 map scanmatcher_frame 5"/>

I was facing the same problem , the solution was I removed ros::spin(); from the function that I am subscribing to and just left the (ros::spin()) in my main function. What makes me think of this solution is that ros::spin() makes the loop repeats more frequently and since hector was flying , the data have not its enough time to be processed so to make the data takes its time to grasp the change I have removed ros::spin().