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

        <param name="base_frame" value="base_link"/>
        <param name="pub_map_odom_transform" value="true"/>
        <param name="map_frame" value="map" />
        <param name="map_size" value="500" />
        <param name="map_resolution" value="0.07" />


    </node>