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To me it looks like the laser scanner is working well, but the ODOM drift is too high, so the robot loses it's sense of direction over time. Can I assume your robot has wheel encoders? If it does, you should redo the calibration, especially for encoder counts on each wheel during rotating. If your odom is based on a calculation of counts and wheel measurements, I suggest instead you determine the counts/meter and counts/radian through measurement instead of calculating. See section 1.2 of this: http://wiki.ros.org/navigation/Tutorials/Navigation%20Tuning%20Guide Once you are confident in the calibration, remap and make sure any rotation during mapping is done very slowly.
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