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If you have a good source of incoming data, you should fit the motion model to it. That are the srr,srt,... parameters. You should lower them to reflect the actual error you have.

Also the laser should fit the scale of the environment, so it sees as much as possible. The LMS200 max range is 80m, AFAIK only the prototypes had 8m.

PS: If you just want to have a perfect map, you can just use your blue ground truth image and convert it to pgm + write the yaml file.