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Take a look at this ROS answer, can have interesting information for you. Specially, setting the minimumScore parameter to something like 100 or higher should avoid the jumps. The answer itself and the gmapping ROS wiki give you an explanation of what's going on. Also this PR can help.

Btw, the minimumScore has been edited on TB2's gmapping demo (https://github.com/turtlebot/turtlebot_apps/pull/109) but I think only on indgo

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