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I'm using a YD Lidar and I was getting bad results in Gmapping. It was mapping area beyond walls as free space, as if it was seeing through walls. I used LaserScanRangeFilter package and replaced the min & max values with NaN. The example yaml from LRSF package shows using "inf" but "NaN" was what I needed.

Also setting maxRange and maxURange correctly (according to actual range of lidar) was necessary.

Hope this helps.