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I found what was wrong. It was not problem of configuration of hector_mapping nor hector_geotiff.

I had forgotten to change param /use_sim_time when I changed sesnor input from rosbag to an actual URG. After I changed /use_sim_time to false, it worked well.

I'm sorry for my simple mistake.

I wrote that I can see map developing on rviz (/scan frame on Fixed Frame /map). But actually I couldn't see /map topic on rviz before parameter correction. (I checked /scan and misunderstood that was /map)

Thank you for your attension.