Hi, I'm using an IMU and a laser scanner and would like to create a planar map, but estimate the pose with 6DoF, for example for handheld mapping.
As far as I can see, it is not possible to estimate the height (z-axis value) with the available sensors, hence 5DoF remain.
My question now is: According to the `hector_mapping` tutorial ([here](http://wiki.ros.org/hector_slam/Tutorials/SettingUpForYourRobot)), it is possible to calculate the roll and pitch angles and broadcast the resulting transform between `base_stabilized` and `base_link` with `hector_imu_attitude_to_tf`.
On the other hand, the package `hector_pose_estimation` within `hector_localization` apparently takes the pose estimate from `hector_mapping` on `/poseupdate`, fuses it with the IMU data and publishes the 6DoF pose.
So, are there any advantages/differences when taking `hector_pose_estimation` instead of `hector_imu_attitude_to_tf` for example for performing 2D handheld SLAM, or is it just the same?
Is `hector_pose_estimation` maybe capable of doing something else that I miss (looking at the source code it seems to be pretty complex)?
Thanks,
Philipp
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