I have set my lidar lite v2 spinning 360 degree on a stepper motor (since it is a range finder, not a wide angle scanner) and the transform baselink --> baselaser updates according to the motor position. So, when I run gmapping, I see my lidar rotating as I want it to be. But due to this, in Rviz, my robot keeps taking small jumps in the map due to which a proper map is not created (for example, a straight wall would become curved or bent). If I stop rotating my lidar (i.e. the transform baselink --> baselaser is constant), then the problem vanishes and the robot no more jumps around. I tried to resolve this problem by editing gmapping such that it always publishes map -- > odom transform as zero. By doing so, the robot does not jumps around anymore while lidar is rotating, but it leads to a new problem which I have asked in a new question in the following link. http://answers.ros.org/question/238422/editing-gmapping-caused-a-problem/

Any ideas how can I resolve this problem of robot jumping around when lidar is rotating ?