Sensor doesn't move from an initial pose for navigation stack

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Hi to all.

I'm having some troubles trying to make a map. I'm driving the wheeled robot by teleop_twist_keyboard and it moves around, but the vision sensor (kinect) seems doesn't detect itself inside the map. It only actualizes what it sees in front of it, even if rotates. Here are the portions of map I got.

http://imgur.com/a/FbGaj

My tf tree

And here the files I have for my project

https://github.com/gersonos/Yirsoon_e...

Which parameters should I change in order to make the sensor moves in combination with the robot? Maybe inside Rviz?

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On github I attached the files I'm using as All files for navigation and the tf_tree I got. Also I added some pictures of terminals used and fragments of the map I got. As you can see is set only looking in one direction, even if it moves and rotate.

What can be the problem I have on my files? I've tried to change lots of parameters that could affect it performance without sucess.

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On my github page I attached some pictures of rostopic echo values that it shows. Which are the following:

https://github.com/gersonos/Yirsoon_e...

rostopic echo /scan
rostopic echo /odom
rostopic echo /rpm
rostopic echo /cmd_vel
rostopic list -v
rqg_graph

As you can see, for /scan topic there are a lot of "nan" and numbers for rangers. There, only ranges seems change. Maybe angle_min | angle_max are the responsables of my issue.

For rostopic echo /odom, only changes x position and x linear for it covariance when it moves around. And it's only detecting forward movement because of my problem, so...it's OK.

For rostopic echo /rpm, the z vector is always on 0.1 but x vector increase when it's moving and it should be OK.

/cmd_vel also print the the suppostly given speed which is 0.04 [m/s] and a turn of 0.1[rad/s] when changes it directions, so no problem.

For rostopic list I attached only the suscribed topics used for you can see, and as a complement of that the rqt_graph.

http://imgur.com/a/nF2Xe (Rqt_graph I have)

------------------------------------------------------------------UPDATE3--------------------------------------------------------------

After playing with the parameters I managed to solve my odometry problem. Now I'm able to generate a more accurate map. By the moment isn't good at all, but close to what it should be.

Thanks