Google Cartographer tuning

edit

I have problems with the tuning of my cartographer. I am using a pico monsta 3d camera. I am filtering the point cloud in order to get just one level of points. My big problem is when I rotate the vehicle the point clous is at first correct orientated, but then the map is really broken. It seems that there is something wrong with the loop closure. And I do not use imu by the way. Here are two pics: The first one is correct. This is the first rotation to the right and left but after a while it draws the map different.

Here is my rosbag_validate if it helps you: https://www.dropbox.com/s/1d4lxqbay1q...

My launch_file: https://www.dropbox.com/s/ovvw6dw300h...

My config_file: https://www.dropbox.com/s/bp0ufm301cp...