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Your right scanner is pointing forward and your left scanner is pointing backwards; is that what you intended? Note that in ROS, X is forward; this corresponds to the green axes in rviz.

In your URDF, you've specified the yaw of the left scanner as -3.14 (180 degrees) and the yaw of the right scanner as 0. This doesn't match your description of your robot; you probably want the yaw for the left scanner to be 1.57 and the yaw for your right scanner to be -1.57.

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