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Well, this obviously depends on what you are seeing. You can only mark things that you see and mark areas as free that a laser ray goes through. Also, once you have seen an area, this remains in the state it was before, while it is not observed.
About the "strange" behaviour at the beginning. I'm not sure if this is the problem, but I had a similar problem before with a Hokuyo laser scanner.
The problem there was, that the Hokuyo sends 0.0 distances if it had reached its max_range. This would mean for the algorithm that it uses this "ray" as not going out and thus does not mark anything as free. This would also explain, why those areas are not marked in the beginning, but then in the end.
Could you verify what the outputs of the scanner are? Also, what max_range you have and what is published there.
(The results might be different from a real robot, as you seem to be using simulation)
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