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If you're using a TurtleBot with the Kinect or Asus Xion a space that large is going to be close to impossible to map. The Kinect only has an effective range of 3m and with it's small field of view a lot of the time it will be out of visual range of any obstacle. And the odometry of the Kobuki is much better than the Create, but it's still not going to allow many meters of deadreakoning. And with the small laser scan width, it is much harder for gmapping to do good scan matching since much of the time it will see feature less walls in it's small field of view.

This is something that can be significantly improved but may require new tools and algorithms, not just tuning parameters. Or a new sensor such as a longer range/wider field of view laser scanner will help significantly.