Map moving with output laser scans

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Hello, I am using point cloud to laser scan package to convert point cloud data to laser scans and then providing the output laser scans to hector mapping but when I start mapping, the map keeps moving with the scans and the map gets distorted. Can anyone please tell me what could be the issue and how it can be solved ? Also I constantly keep getting this error - "SearchDir angle change too large" in the command prompt window. Please let me know why the following message might be coming and where and what changes should be done to eliminate this error message.