What effect does the low msg update rate do to the SLAM map ?

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hi

i'm building the map with Hector SLAM and my customized lidar. The structure of customized lidar is just like RPLidar, it's always rotating.

▼ I got a good scanning result when i placed the lidar in a single point.

(there's a big window, so the down side of the map looks like that, it's correct)

▼ but the map sometimes failed.

I have no idea why the system is so weak that once if i moved or rotated the heading of lidar too fast with hands, the map failed easily. After checking some of the Q&A here, and i found this, here's some questions about the problem happened on my system :

• Is it caused by the low msg update rate too ? Or is it caused by some other problems ?

• If it's not caused by the low msg update rate, what effect does the low msg update rate do to the SLAM map ?

• what's the minimum angle resolution or the basic needs for Hector SLAM that can make the scan matching work successfully ?

• it is that the angle should always be 0~ 2pi in a single msg ? is 0~ pi enough for Hector SLAM to make a map ? 　

－ thanks ! :) 　

here's some info of my system

• LaserScan.msg publishing frequency : about 3.1 hz
• Sampling rate : 2000 (sample / sec) in total
• rqt :

• LaserScan.msg sample :

header:    
　seq: 31   
　stamp: 
　　secs: 1459761437
　　nsecs: 218499461   
　frame_id: laser_frame 
angle_min: 0.0 
angle_max: 6.25863647461 
angle_increment: 0.00892857182771
time_increment: 0.000553450663574
scan_time: 0.371918857098
range_min: 0.10000000149
range_max: 40.00
ranges: [ ... ]　( about 590~670 data in this vector )　
intensities: []