I wanted to exploit the fact that hector_mapping gives pretty accurate position estimate. I used the position estimate to find odometry and now hector_mapping successful publishes the odom message and gives the required tf. But when I run amcl and publish an already created map using map_server everything messes up because now both the hector_mapping and
map_server are publishing maps. Even if I remap the hector mapping map to something else to divert it my tf is disturbed. Please help how to resolve this issue
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