gmapping and laser scanmatcher -Scan Matching Failed, using odometry

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Hi all,

I'm having a great deal of trouble getting anything approaching a reasonable result out of gmapping. I'm using the laser-scan_matcher, with IMU, to fake the Odom topic but still gmapping reports "Scan Matching Failed, using odometry" and makes a mess of any map up to that point.

This is my graph:

and gmapping launch file. I've tried various particles, angularUpdate and linearUpdate values. Nothing so far.

    <param name="odom_frame" value="odom"/>
    <param name="map_update_interval" value="1"/>
    <param name="maxUrange" value="6.0"/>
    <param name="sigma" value="0.05"/>
    <param name="kernelSize" value="1"/>
    <param name="lstep" value="0.1"/>
    <param name="astep" value="0.1"/>
    <param name="iterations" value="5"/>
    <param name="lsigma" value="0.075"/>
    <param name="ogain" value="3.0"/>
    <param name="lskip" value="0"/>
    <param name="srr" value="0.01"/>
    <param name="srt" value="0.02"/>
    <param name="str" value="0.01"/>
    <param name="stt" value="0.02"/>
    <param name="linearUpdate" value="0.05"/>
    <param name="angularUpdate" value="0.05"/>
    <param name="temporalUpdate" value="-1.0"/>
    <param name="resampleThreshold" value="0.5"/>
    <param name="particles" value="30"/>
    <param name="xmin" value="-50.0"/>
    <param name="ymin" value="-50.0"/>
    <param name="xmax" value="50.0"/>
    <param name="ymax" value="50.0"/>
    <param name="delta" value="0.025"/>
    <param name="llsamplerange" value="0.01"/>
    <param name="llsamplestep" value="0.01"/>
    <param name="lasamplerange" value="0.005"/>
    <param name="lasamplestep" value="0.005"/>
<param name="minimumScore" value="100"/>

Any help would be most appreciated.

Thanks

Mark