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So, I solved the problem on my own at the end. Turns out I just had to play around with the Rviz config to get a proper map.

PS. I also documented my work with Neato(http://meetjanez.splet.arnes.si/2015/08/22/neato-xv-11-to-ros-slam/) and made a mini tutorial for anyone still struggling with it. Hope it helps :)

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