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What is the maximum range of your laser scanner and what is the reading it gives if there is no object in range of the beam?

I think the problem is, that space where no echo is received by the scanner, is not marked as free. Have a look at the documentation of the ~maxRange parameter and try the proposed setting maxUrange < maximum range of the real sensor <= maxRange. But as far as i know, this depends on the scanner reporting readings of max range and not zero or NaN for beams where no echo is received.

If this does not solve your problem, maybe you could post a small bag file, so we can have a look for our own. :)