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[This is an old question, but maybe the answer helps someone.]

This laser-scan-misalignment-in-rviz symptom can happen when the map->base_link transform is not accurate. With the transform tree you show, this can be caused by the combination of 2 issues:

1. your robot's odometry when rotating is poor i.e. the odom->base_link transform is not accurate.

2. there is a delay in updating the map->odom transform.

You don't say if the mis-alignment corrects itself after the robot stops moving; if it does fix itself, that is probably (2) being updated. Note that If you fix the odometry, then (2) will become a lot less noticable.

[This is an old question, but maybe the answer helps someone.]

This laser-scan-misalignment-in-rviz symptom can happen when the map->base_link transform is not accurate. With the transform tree you show, this can be caused by the combination of 2 issues:

1. your robot's odometry when rotating is poor i.e. the odom->base_link transform is not accurate.

2. there is a delay in updating the map->odom transform.

You don't say if the mis-alignment corrects itself after the robot stops moving; if it does fix itself, that is probably (2) being updated. Note that If you fix the odometry, then (2) will become a lot less noticable.