Looking into the current decoding of hard_config its is a two stage process of 1. LZO, followed by 2. DRE. It requires prior knowledge of a 1380 byte dictionary blob that needs to be prepended before decoding can start. Where that blob is stored in ROS I do not know. Did notice that many decoded hard_configs share the string TTLF, and it also features in the dictionary.
The LZ77 version appears to come with a small/big endian change relative to before. Unlikely that it would not also require the addition of something stored elsewhere, before decoding can be done.
The earlier solution came from a github user with ID 'ius' . Involving him/her might be needed.