How to fix problem searchDir angle change too large

edit

I found this problem, which I used hector_slam with RPLidar ran on Ubuntu desktop 14.04 lts don't know anyone ever had. It show that message. "SearchDir angle change too large" makes the map that was created is distorted. By what the leap of the position or direction is distorted. As shown in the figure, (https://drive.google.com/file/d/0B6qK...) and (https://drive.google.com/file/d/0B6qK...) which maps should be shown. (https://drive.google.com/file/d/0B6qK...) and (https://drive.google.com/file/d/0B6qK...) Can anybody help? Or this problem caused by setting parameters, I set my right, parameters are as follows

START CODE

<?xml version="1.0"?>

<launch>

  <node pkg="hector_mapping" type="hector_mapping" name="hector_mapping" output="screen">

    <!-- Frame names -->
    <param name="pub_map_odom_transform" value="true"/>
    <param name="map_frame" value="map" />
    <param name="base_frame" value="base_link" />
    <param name="odom_frame" value="base_link" />

    <!-- Tf use -->
    <param name="use_tf_scan_transformation" value="true"/>
    <param name="use_tf_pose_start_estimate" value="false"/>

    <!-- Map size / start point -->
    <param name="map_resolution" value="0.025"/>
    <param name="map_size" value="2048"/>
    <param name="map_start_x" value="0.5"/>
    <param name="map_start_y" value="0.5" />
    <param name="laser_z_min_value" value = "-1.0" />
    <param name="laser_z_max_value" value = "1.0" />
    <param name="map_multi_res_levels" value="2" />

    <param name="map_pub_period" value="2" />
    <param name="laser_min_dist" value="0.4" />
    <param name="laser_max_dist" value="5.5" />
    <param name="output_timing" value="false" />
    <param name="pub_map_scanmatch_transform" value="true" />
    <!--<param name="tf_map_scanmatch_transform_frame_name" value="scanmatcher_frame" />-->

    <!-- Map update parameters -->
    <param name="update_factor_free" value="0.4"/>
    <param name="update_factor_occupied" value="0.7" />    
    <param name="map_update_distance_thresh" value="0.2"/>
    <param name="map_update_angle_thresh" value="0.06" />

    <!-- Advertising config --> 
    <param name="advertise_map_service" value="true"/>
    <param name="scan_subscriber_queue_size" value="5"/>
    <param name="scan_topic" value="scan"/>

  </node>

  <node pkg="tf" type="static_transform_publisher" name="base_to_laser_broadcaster"  args="0 0 0 0 0 0 /base_link /laser 100" /> 

</launch>

END CODE

Thank you for your answer soon. I just learned to use,Sorry about my grammar.