Map created using slam_gmapping looks weird ( Irobot Create + Hokuyo Laser)
I am trying to build a map using slam_gmapping. The maps are getting generated. But the generated maps were nowhere near to the original environment. They looks strange and weird. The edges of the map have a saw-tooth structure. (I have the bag file and map, but not able to attach it here) Please find below the tf tree : map -->odom -->base_link -->base_platform --> laser
Following are the launch files used :
launch_robot.launch
<launch>
<node pkg="irobot_create_2_1" type="driver.py" name="base_link" output="screen"/>
<node pkg="hokuyo_node" type="hokuyo_node" name="scan">
</node>
<node pkg="tf" type="static_transform_publisher" name="ground_static_tf_publisher" args="0 0 0.075 0 0 0 1 base_link base_platform 50"/>
<node pkg="tf" type="static_transform_publisher" name="base_platform_to_base_laser" args="0.14 0 0.06 0 0 0 1 base_platform laser 50"/>
</launch>
build_map.launch
<launch> <node pkg="gmapping" type="slam_gmapping" name="map_builder"> (tried with/without this attribute, tried values 0,50,100,etc.) </node> </launch>
I am not seeing any exception while running slam_gmapping node. Is this an issue with slam mapping? Could you please help me in figuring out where I am going wrong ?