Maps made of Google Cartographer and Gmapping overlap or bend (TurtleBot3)

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Hello.

Recently, I draw the maps by using Google Cartographer and Gmapping in the corridor.

I wrote a post to solve some of the problems that occurred among the maps I created.

1. Google Cartographer Google Cartographer's maps were not bent, but as it overlapped, it was found that it was created shorter than the original corridor or that the door position of the corridor was displayed differently.

2. Gmapping Contrary to Google Cartographer, they were bent. Thus, TurtleBot3 can't often turn the corner.

I think the cause of these problems is the wrong setting of odometry. These are the actions taken in the process of creating a map when the robot is ready to move.

1. Moving slowly.
2. Moving around several times.
3. Rotaing 360 degrees when robot is mapping.
4. Moving in zigzag in the corridor.

If you need a picture related to the wrong result, I will upload it.

(So far, I have only mapped after installation and have not set up odometry,etc...)

I used a translator because my English was not good enough.

Thank you.