how to use hector_slam?

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Hello All,

I am new to ROS and learning slowly. I am using ROS fuerte, ubuntu 12.04.

I downloaded the hector_slam package from the ros wiki page. After installing from the github repository, did a rosmake and got this error.

[ rosmake ] Output from build of package hector_geotiff_plugins written to:
[ rosmake ]    /home/turtlebot/.ros/rosmake/rosmake_output-20130910-013847/hector_geotiff_plugins/build_output.log
[rosmake-3] Finished <<< hector_geotiff_plugins [FAIL] [ 2.73 seconds ]         
[ rosmake ] Halting due to failure in package hector_geotiff_plugins. 
[ rosmake ] Waiting for other threads to complete.
[rosmake-2] Finished <<< hector_mapping [PASS] [ 39.46 seconds ]                
[ rosmake ] Results:                                                            
[ rosmake ] Cleaned 58 packages.                                                
[ rosmake ] Built 57 packages with 1 failures.                                  
[ rosmake ] Summary output to directory                                         
[ rosmake ] /home/turtlebot/.ros/rosmake/rosmake_output-20130910-013847

I have a hokuyo urg 04 lx for takin laser scans.

My question is - 1) How to get the hector_geotiff_plugins to build cleanly? 2) Which launch file I should use to run hector mapping (From the tutorial I assume the file is the tutorial.launch located in hector_slam_launch folder) , also in this case I will have to run the hokuyo node separately using hokuyo.launch, if I am correct? 3) I do not have an IMU to use with the hokuyo lidar but I have a turtlebot with gyro, can I launch the turtlebot launch file and use teleop to get the imu from the turtlebot utilizing its IMU? 4) Do I need to create a separate launch file as described in the tutorial or I have to edit the same tutorial.launch file.

My tutorial. launch file looks like this--- I do not understand which parameters to change, (sorry i am very new to ROS)

<?xml version="1.0"?>

<launch>

  <param name="/use_sim_time" value="true"/>

  <node pkg="rviz" type="rviz" name="rviz" 
    args="-d $(find hector_slam_launch)/rviz_cfg/mapping_demo.vcg"/>

  <include file="$(find hector_mapping)/launch/mapping_default.launch"/>

  <include file="$(find hector_geotiff)/launch/geotiff_mapper.launch">
    <arg name="trajectory_source_frame_name" value="scanmatcher_frame"/> 
  </include>

</launch>

And the mapping_default.launch file looks like this ----

<?xml version="1.0"?>

<launch>
  <arg name="tf_map_scanmatch_transform_frame_name" default="scanmatcher_frame"/>
  <arg name="base_frame" default="base_footprint"/>
  <arg name="odom_frame" default="nav"/>
  <arg name="pub_map_odom_transform" default="true"/>
  <arg name="scan_subscriber_queue_size" default="5"/>
  <arg name="scan_topic" default="scan"/>
  <arg name="map_size" default="2048"/>

  <node pkg="hector_mapping" type="hector_mapping" name="hector_mapping" output="screen">

    <!-- Frame names -->
    <param name="map_frame" value="map" />
    <param name="base_frame" value="$(arg base_frame)" />
    <param name="odom_frame" value="$(arg odom_frame)" />

    <!-- Tf use -->
    <param name="use_tf_scan_transformation" value="true"/>
    <param name="use_tf_pose_start_estimate" value="false"/>
    <param name="pub_map_odom_transform" value="$(arg pub_map_odom_transform)"/>

    <!-- Map size / start point -->
    <param name="map_resolution" value="0.050"/>
    <param name="map_size" value="$(arg map_size)"/>
    <param name="map_start_x" value="0.5"/>
    <param name="map_start_y" value="0.5" />
    <param name="map_multi_res_levels" value="2" />

    <!-- Map update parameters -->
    <param name="update_factor_free" value="0.4"/>
    <param name="update_factor_occupied" value="0.9" />    
    <param name="map_update_distance_thresh" value="0.4"/>
    <param name="map_update_angle_thresh" value="0.06" />
    <param name="laser_z_min_value" value = "-1.0" />
    <param name="laser_z_max_value" value = "1.0" />

    <!-- Advertising config --> 
    <param name="advertise_map_service" value="true"/>

    <param name="scan_subscriber_queue_size" value="$(arg scan_subscriber_queue_size)"/>
    <param name="scan_topic" value="$(arg scan_topic)"/>

    <!-- Debug parameters ...