gmapping and inversion Hokuyo don't work

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Hello,

I'm trying to use the hokuyo on my robot, from upside down. (inverted position)

On Rviz all frames are correct and I see the the laser points perfect (rotated), but gmapping is ignoring the fact of my transformation: <node pkg="tf" type="static_transform_publisher" name="base_link_to_base_laser_link" args="0.058 0 0.125 0.0 0.0 3.1416 /base_link /base_laser_link 100" />

and the mapping is not coherent with what hokuyo senses. As i like show on next images, can someone help-me? (I can't implement slam this way)

( I have tried with <param name="inverted_laser" value="false" />, with <param name="inverted_laser" value="true" /> and without parameter and is the same) I'm using electric version, after images you can see my launch files.

<launch>
  <node pkg="hokuyo_node" type="hokuyo_node" name="laser_scan">
    <param name="port" value="/dev/ttyACM0"/>
    <param name="frame_id" value="base_laser_link"/>
    <remap from="scan" to="base_scan" />
  </node>
  <node name="filbotic" pkg="filbotic" type="filbotic_driver" output="screen" >
    <param name="port_name" value="/dev/ttyUSB0" />
  </node>
  <node pkg="tf" type="static_transform_publisher" name="base_link_to_base_laser_link" args="0.058 0 0.125 0.0 0.0 3.1416 /base_link /base_laser_link 100" />
  <node pkg="tf" type="static_transform_publisher" name="base_footprint_to_base_link" args="0 0 0 0 0 0  /base_footprint /base_link 100" />
</launch>    `


<launch>
  <node pkg="gmapping" type="slam_gmapping" name="gmapping" output="screen">
    <remap from="scan" to="base_scan" />
    <param name="inverted_laser" value="false" />
    <param name="maxUrange" value="30.0" />
    <param name="particles" value="30" />
    <param name="delta" value="0.01" />
    <param name="xmin" value="-15.0" />
    <param name="xmax" value="15.0" />
    <param name="ymin" value="-15.0" />
    <param name="ymax" value="15.0" />
    <param name="angularUpdate" value="0.5" />
    <param name="linearUpdate" value="1.0" />
    <param name="map_update_interval" value="1.0" />
    <param name="resampleThreshold" value="0.3" />
    <param name="llsamplerange" value ="0.05" />
    <param name="llsamplestep" value ="0.05" />
    <param name="lasamplerange" value ="0.05" />
    <param name="lasamplestep" value ="0.05" />
  </node>
</launch>             `