Hector Mapping

Hi all! I'm getting use to ROS now. After setting up my Hokuyo UST-20LX laser, I'm currently working on hector_mapping and hector_navigation. I have a few questions here. **1)** Before I proceed on, can I check whether my rqt tree is in correct order? map ---> scanmatcher_frame map ---> nav nav ---> base_footprint base_footprint ---> base_stabilized base_footprint ---> base_link base_link ---> laser base_link ---> base_laser (using tf_broadcaster and tf_listener) **2)** I configure this tree from my geotiff_mapper.launch file. What I changed was the few node pkg lines below. Is it correct? **3)** I edited a bit on hector_mapping/launch/mapping_default.launch. Changes are: -Set `` By default it is ``. The reason why I changed to base_link is because I have encountered an error that said base_footprint cannot transform to laser. Still, changing to base_link still shows this error but the warning doesn't keep popping out in the terminal. -Add include files: I will be using elevation_mapping in the future therefore I add this node inside here first. The reason for including these files is that I can run 4 nodes at just by `roslaunch hector_mapping mapping_default.launch`. Can anyone confirm that my changes are alright? **4)** After setting up all this, the laser mapping isn't good either. All displays in RVIZ are in OK condition (LaserScan, TF, Map, etc..). I have set the Global Fixed Frame into /base_link, it doesn't map out the area instantly. The only time it can map out nicely is when I just enter into RVIZ. Portion of the map appears but once I move the Hokuyo laser, it takes very long/doesn't even map. However when I set the Fixed Frame to scanmatcher_frame, the RVIZ screen turns accordingly to how I move the Hokuyo laser, and even manage to do the mapping properly, but slowly. I don't really mind the slow mapping since my lecturer said Hokuyo UST-20LX does a slow mapping job. I want to ask whether setting to scanmatcher_frame is the correct option. Is it possible to prevent the RVIZ screen from turning according to the physical Hokuyo laser? That's all for now. Thanks for any help!!