free space cost non zero [closed]

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Update: The only thing I can see is that the scan data would be different. So I printed here two scan messages one from the simulated range scanner /scan topic and the other from the depthimage-to-scan /scan topic. There are significant difference but I am not sure how to interpret the implications or why they should be so different.

header: 
  seq: 3580
  stamp: 
    secs: 161
    nsecs: 358000000
  frame_id: hokuyo_frame
angle_min: -1.57000005245
angle_max: 1.57000005245
angle_increment: 0.00436717644334
time_increment: 0.0
scan_time: 0.0
range_min: 0.10000000149
range_max: 30.0
ranges: [29.997081756591797, 29.988920211791992, 29.99970245361328, 29.999238967895508, 30.0, 30.0, 29.977680206298828, 30.0, 29.991748809814453, 29.98035430908203, 30.0, 29.996103286743164, 30.0, 29.99955177307129, 30.0, 29.994558334350586, 30.0, 30.0, 30.0, 29.970003128051758, 30.0, 29.99159049987793, 29.99129295349121, 29.981348037719727, 29.996347427368164, 30.0, 30.0, 29.99759864807129, 29.999897003173828, 29.986814498901367, 12.411917686462402, 12.354867935180664, 12.362832069396973, 12.349588394165039, 12.37653636932373, 12.373899459838867, 9.88072681427002, 9.782089233398438, 9.748247146606445, 9.718147277832031, 9.685266494750977, 9.692972183227539, 9.68157958984375, 9.67363166809082, 9.677596092224121, 9.705507278442383, 9.716010093688965, 9.727544784545898, 9.802123069763184, 9.848831176757812, 29.99643898010254, 29.985490798950195, 30.0, 30.0, 29.99178695678711, 30.0, 30.0, 30.0, 30.0, 30.0, 29.99996566772461, 29.983564376831055, 29.995256423950195, 29.9857234954834, 30.0, 30.0, 29.984766006469727, 29.99078941345215, 29.98838996887207, 29.999298095703125, 30.0, 29.987136840820312, 29.97875213623047, 29.998136520385742, 29.994722366333008, 30.0, 29.977048873901367, 29.985347747802734, 29.995771408081055, 29.99387550354004, 30.0, 30.0, 29.992149353027344, 30.0, 29.985212326049805, 29.986574172973633, 30.0, 29.992326736450195, 29.997915267944336, 29.99228286743164, 30.0, 30.0, 30.0, 29.990550994873047, 30.0, 30.0, 30.0, 30.0, 30.0, 29.993356704711914, 29.993791580200195, 29.991432189941406, 29.988269805908203, 29.992923736572266, 29.99822235107422, 29.990724563598633, 29.996782302856445, 30.0, 30.0, 29.993913650512695, 30.0, 30.0, 30.0, 29.99424934387207, 30.0, 29.999757766723633, 30.0, 30.0, 29.992565155029297, 29.99332046508789, 30.0, 29.97930335998535, 29.99736976623535, 29.996692657470703, 30.0, 30.0, 30.0, 29.995622634887695, 30.0, 29.993017196655273, 4.717489242553711, 4.682730197906494, 4.659954071044922, 4.64110803604126, 4.641321182250977, 4.636087417602539, 4.61427640914917, 4.6047821044921875, 4.628259181976318, 4.623861312866211, 4.6402177810668945, 4.660253524780273, 4.665533542633057, 4.688276767730713, 30.0, 30.0, 29.99643325805664, 29.983495712280273, 29.987350463867188, 30.0, 29.997406005859375, 29.9869327545166, 30.0, 30.0, 30.0, 29.98410415649414, 29.994699478149414, 30.0, 29.999004364013672, 30.0, 29.9957218170166, 30.0, 29.997146606445312, 29.99625587463379, 30.0, 30.0, 30.0, 29.99946403503418, 29.9912109375, 29.99149513244629, 29.990659713745117, 30.0, 29.996641159057617, 30.0, 30.0, 29.985166549682617, 29.982894897460938, 30.0, 30.0, 29.991235733032227, 29.999818801879883, 29.99533462524414, 30.0, 29.988948822021484, 30.0, 29.988811492919922, 30.0, 29.99751091003418, 29.989456176757812, 29.989492416381836, 30.0, 29.994476318359375, 30.0, 29.976266860961914, 30.0, 30.0, 30.0, 29.990686416625977, 30.0, 30.0, 30.0, 30.0, 30.0, 29.989713668823242, 29 ...