I'm using Xtion pro live on the RaspBerry pi. Gyroscope and compass also working very well.ROS mastered on a PC. basecontrol can publish orientation and position pretty good and visualized on the Rviz. depthimagetolaserscan，gmapping nodes are publishing message on the wire. The first frame map was good. I manually rotate the robot which had the Xtion pro live attached on it. The map coming later looked not spliced very well :( The robot on the Rviz was little bit jumping, sounds like changing the pose by the ROS. I think its the basecontrol's job to publish the pose via odom topic, am I right? Is there any node matching the position in background?

The map is repeating the same pattern.

Is it possibly caused by system time synchronization issue?