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it seems like that some parameters for gmapping/slam_gmaping are incorrectly configured.

I did check the /odom data and the real distance robot moved. less than 5% error.

Finally, I corrected this sliding-scan problem by using the launch file given by rbx1. but I met another problem: http://answers.ros.org/question/247119/how-to-configure-gmapping-params-to-make-the-map-denser/

The map is like draw with light strockes. And there are many emissive lines which is not as the reality and should be get rid of.

it seems like that some parameters for gmapping/slam_gmaping are incorrectly configured.

I did check the /odom data and the real distance robot moved. less than 5% error.

Finally, I corrected this sliding-scan problem by using the launch file given by rbx1. but I met another problem: http://answers.ros.org/question/247119/how-to-configure-gmapping-params-to-make-the-map-denser/

The map is like draw drawn with light strockes. And there are many emissive lines which is not as the reality and should be get rid of.