Does laser_scan_matcher work with scans of more/less than 180 degrees?

Hi all, I use the package [laser_scan_matcher](http://wiki.ros.org/laser_scan_matcher) to detect whether a TrutleBot2 robot is stuck (by comparing the matcher pose to the odometry/commanded velocity). It works when I use an hokuyo laser and set min/max angles to -/+ pi/2, but matching fails most of the time if I use the 270 degrees scan. It's even worse if I use the fake laser scan extracted from the kinect by depthimage_to_laserscan. So... looks like laser_scan_matcher must be tweaked to uses non-180 deg scans, right? If so: * To the package authors: Would it be very difficult to do so? * To everybody: any alternative out there to get odometry from the laser? I tried also to install a camera and run [viso2_ros](http://wiki.ros.org/viso2_ros), but didn't work well and takes a lot of CPU. **UPDATE** I have created a [github issue](https://github.com/ccny-ros-pkg/scan_tools/issues/19) asking for this change. Thank you a lot