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hector mapping with only odometry

Hi,

How to use hector_mapping to produce maps using only odometry (no scan)?

In gmapping it is doable by tuning some params. I want to compare the hector_mapping and gmapping for this case.

Background:

The Pepper robot comes with a poor laser which can't be used for slam purpose. A way around is to use depth sensor (Xtion) but the lense fitted in front it makes the depth image highly distorted. I am curious to know that how much accurate maps can we get using only odometry, as the robot's odometry seems reliable.