I can't do mapping with my LiDar

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Hi guys! I'm trying to map my workplace, but I'm not getting it, the map that is made rotates together with the robot and is unable to map effectively, as in the figure below.

https://imgur.com/4KYBKbs

My laser is Keyence's SZ-16D model with 270-degree coverage with 0.36-degree resolution.

Our old lidar was an XV11 and it worked perfectly with the same settings, with the difference that it had a 360-degree field of view.

We have already tried with Gmapping and Hector Slam and both are problematic, the configuration files are shown below.

Keyence launch file

 <launch>
    <node pkg="tf" type="static_transform_publisher" name="laser_broadcaster" 
          args="0 0 0 0 0 0 base_link keyence_laser 100">
    </node>
    <!--node pkg="tf" type="static_transform_publisher" name="odom_map_broadcaster" args="0 0 0 0 0 0 /map /odom 100" /-->
    <node pkg="nav_hub" type="LaserScan_SZ-16D.py" name="laserscan_sz16D_node" output="screen" />
</launch>

Gmapping launch file

<launch>
  <arg name="scan_topic"  default="scan" />
  <arg name="base_frame"  default="base_link"/>
  <arg name="odom_frame"  default="odom"/>

  <node pkg="gmapping" type="slam_gmapping" name="slam_gmapping" output="screen">
    <param name="base_frame" value="$(arg base_frame)"/>
    <param name="odom_frame" value="$(arg odom_frame)"/>
    <param name="map_update_interval" value="5.0"/>
    <param name="maxUrange" value="14.0"/>
    <param name="maxRange" value="16.0"/>
    <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="minimumScore" value="0"/>
    <param name="srr" value="0.01"/>
    <param name="srt" value="0.02"/>
    <param name="str" value="0.01"/>
    <param name="stt" value="0.02"/>
    <param name="linearUpdate" value="0.5"/>
    <param name="angularUpdate" value="0.436"/>
    <param name="temporalUpdate" value="-1.0"/>
    <param name="resampleThreshold" value="0.5"/>
    <param name="particles" value="80"/>
    <param name="xmin" value="-10.0"/>
    <param name="ymin" value="-10.0"/>
    <param name="xmax" value="10.0"/>
    <param name="ymax" value="10.0"/>

    <param name="delta" value="0.036"/>
    <param name="llsamplerange" value="0.01"/>
    <param name="llsamplestep" value="0.01"/>
    <param name="lasamplerange" value="0.005"/>
    <param name="lasamplestep" value="0.005"/>
    <remap from="scan" to="$(arg scan_topic)"/>
  </node>
</launch>

Thanks in advance