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scanmatcher in gmapping is limiting number of beams to 2048

For your case

angle_min: -2.35619449615 angle_max: 2.35619449615

which is ~ 269 degrees and from launch file

 <param name="angular_res" value="0.1" />

it counts 2690 > 2048.

Change resolution to 0.2 or 0.5 so that number of beams becomes < 2048.

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