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The first thing you need to do before try to make a SLAM is to calibrate. Here in ROS Answers there are several topics about that. Since your problem is that the map is not closing, you can run some tests: Try to go forward into a corridor, rotate 180º and go back to the start point while running gmapping. If the robot creates another corridor on the way back, the problem is the calibration. and you should run it several times until get better results for laser and odometry. If you already have a map, try to send a GOAL to the robot while using amcl_demo and watch the laser in the map (the white line). Again, if the laser exceed the wall, i'm almost sure the problem is with the laser and you need to calibrate it.