Buggy map and using move_base with cartographer

edit

I'm publishing to the /map top with cartographer, howerver when I visualize my costmap in rviz, I get this: , which doesn't correspond with the underlying map. I don't get this issue when I'm generating my map with gmapping.

Cartographer settings: <launch> <node name="cartographer_node" pkg="cartographer_ros" type="cartographer_node" args=" -configuration_directory $(find cartographer_ros)/configuration_files -configuration_basename jackal_2d.lua" output="screen"> <remap from="echoes" to="front_laser"/> <remap from="imu" to="/imu/data"/> </node>

  <node name="cartographer_occupancy_grid_node" pkg="cartographer_ros"
      type="cartographer_occupancy_grid_node" args="-resolution 0.05" />
</launch>

include "map_builder.lua"
include "trajectory_builder.lua"

options = {
  map_builder = MAP_BUILDER,
  trajectory_builder = TRAJECTORY_BUILDER,
  map_frame = "map",
  tracking_frame = "base_link",
  published_frame = "base_link",
  odom_frame = "odom",
  provide_odom_frame = true,
  publish_frame_projected_to_2d = false,
  use_odometry = false,
  use_nav_sat = false,
  use_landmarks = false,
  num_laser_scans = 1,
  num_multi_echo_laser_scans = 0,
  num_subdivisions_per_laser_scan = 10,
  num_point_clouds = 0,
  lookup_transform_timeout_sec = 0.2,
  submap_publish_period_sec = 0.3,
  pose_publish_period_sec = 5e-3,
  trajectory_publish_period_sec = 30e-3,
  rangefinder_sampling_ratio = 1.,
  odometry_sampling_ratio = 1.,
  fixed_frame_pose_sampling_ratio = 1.,
  imu_sampling_ratio = 1.,
  landmarks_sampling_ratio = 1.,
}

MAP_BUILDER.use_trajectory_builder_2d = true
TRAJECTORY_BUILDER_2D.num_accumulated_range_data = 10

For some reason, cartographer is interfering with my /scan topic:

.

This is my tf tree:

. Any ideas as to what's going wrong?