I use gmapping and the rplidar to build the map, but there is a problem.

edit

Hello all,

The constructed map is prone to distortion, just like this： https://plus.google.com/1101846192220...

and

https://plus.google.com/u/0/110184619...

There are a lot of strange points, and the part of my launch looks like this:

<node pkg="gmapping" type="slam_gmapping" name="slam_gmapping" output="screen">
 <param name="map_update_interval" value="5.0"/>
 <param name="maxUrange" value="5.0"/>
 <param name="maxRange" value="5.0"/>
 <param name="sigma" value="0.05"/>
 <param name="kernelSize" value="1"/>
 <param name="lstep" value="0.05"/>
 <param name="astep" value="0.05"/>
 <param name="iterations" value="5"/>
 <param name="lsigma" value="0.075"/>
 <param name="ogain" value="3.0"/>
 <param name="lskip" value="0"/>
 <param name="srr" value="0.1"/>
 <param name="srt" value="0.2"/>
 <param name="str" value="0.1"/>
 <param name="stt" value="0.2"/>
 <param name="linearUpdate" value="1.0"/>
 <param name="angularUpdate" value="0.5"/>
 <param name="temporalUpdate" value="3.0"/>
 <param name="resampleThreshold" value="0.5"/>
 <param name="particles" value="30"/>

 <param name="xmin" value="-50.0"/>
 <param name="ymin" value="-50.0"/>
 <param name="xmax" value="50.0"/>
 <param name="ymax" value="50.0"/>

 <param name="delta" value="0.05"/>
 <param name="llsamplerange" value="0.01"/>
 <param name="llsamplestep" value="0.01"/>
 <param name="lasamplerange" value="0.005"/>
 <param name="lasamplestep" value="0.005"/>
 <!--param name="minimumScore" value="50"/-->
</node>

Thank you for your consideration.