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Are you running a real robot or simulation? Your scans seem to come from gazebo, but "cmd_vel" doesn't seem to go into gazebo.

Your global map looks somewhat distorted like from some error in the transformation tree. You should check the tf-tree with "rosrun tf view_frames".

Are you running a real robot or simulation? Your scans seem to come from gazebo, but "cmd_vel" doesn't seem to go into gazebo.

Your global map looks somewhat distorted like from some error in the transformation tree. You should check the tf-tree with "rosrun tf view_frames".

Update:

An inverted scan-frame would explain the weird behavior when the robot is turning. In your video 2 it also looks like the scan is under the map, can you verify this? Can you check which coordinate frame the laser-scan is defined in (likely it is base_laser_link) and visualize this in RVIZ?

And have you checked the ROS-Console (rqt_console) if any warnings or errors show up there?