Lidar not aligning with the map during rotation

edit

try setting the fix frame to odom frame.

If you're using AMCL, check your params for min rotation required to update odom-map tf via the localization node

[This is an old question, but maybe the answer helps someone.]

This laser-scan-misalignment-in-rviz symptom can happen when the map->base_link transform is not accurate. With the transform tree you show, this can be caused by the combination of 2 issues:

1. your robot's odometry when rotating is poor i.e. the odom->base_link transform is not accurate.

2. there is a delay in updating the map->odom transform.

You don't say if the mis-alignment corrects itself after the robot stops moving; if it does fix itself, that is probably (2) being updated. Note that If you fix the odometry, then (2) will become a lot less noticable.

I took fake odometry data that is close to perfect and the lidar is still rotating and misaligning with the map

I'm not sure what you mean here, but if true, this implies your map->odom transform is being updated to a wrong value.