gmapping : Scan Matching Failed, using odometry‏

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Hi,

I'm using gmapping to create maps. But, it returns a lot of messages saying Scan Matching Failed, using odometry and the resulting map has several overlapped maps.

In rviz the laser values seem to be correct. When I run the rostopic command to see the behavior of base_scan (laser) and odom (odometry) topics, it is possible to verify that the values are correctly published on ROS.

. I'm using these parameters in my code for the values on LaserScan:

scan.angle_min = -1.57;
scan.angle_max = 1.57;
scan.angle_increment = 3.14 / num_readings;
scan.time_increment = (1 / laser_frequency) / (num_readings);
scan.range_min = 0.0;
scan.range_max = 80.0;

Someone can help me ? Together with this message I attach the resulting .yaml file and the .bag file.

NOTE: Below is presented part of the resulting command line with the error:

 -maxUrange 79.99 -maxUrange 79.99 -sigma     0.05 -kernelSize 1 -lstep 0.05 -lobsGain 3 -astep 0.05
 -srr 0.1 -srt 0.2 -str 0.1 -stt 0.2
 -linearUpdate 1 -angularUpdate 0.5 -resampleThreshold 0.5
 -xmin -100 -xmax 100 -ymin -100 -ymax 100 -delta 0.05 -particles 30
[ INFO] [1321129265.860843005]: Initialization complete
update frame 0
update ld=0 ad=0
Laser Pose= 15 1 1.57733
m_count 0
Registering First Scan
update frame 246
update ld=1.00164 ad=0
Laser Pose= 13.9984 0.993456 1.57733
m_count 1
Scan Matching Failed, using odometry. Likelihood=3.10908e-305
lp:15 1 1.57733
op:13.9984 0.993456 1.57733
Scan Matching Failed, using odometry. Likelihood=-1200
lp:15 1 1.57733
op:13.9984 0.993456 1.57733

Thanks