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Incorporating structured data in the Linked Data cloud is still complicated, despite the numerous existing tools. In particular, hierarchical structured data (e.g., JSON) are underrepresented, due to their processing complexity. A uniform mapping formalisation for data in different formats, which would enable reuse and exchange between tools and applied data, is missing. This paper describes a novel approach of mapping heterogeneous and hierarchical data sources into RDF using the RML mapping language, an extension over R2RML (the W3C standard for mapping relational databases into RDF). To facilitate those mappings, we present a toolset for producing RML mapping files using the Karma data modelling tool, and for consuming them using a prototype RML processor. A use case shows how RML facilitates the mapping rules’ definition and execution to map several heterogeneous sources.