Laser scan to point cloud to octomap - strange result

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Hi,

I have a laser scanner mounted on an arm. With laser_pipeline and pcl_assembler, I build a point cloud and pass it to the octomap_server. The pcl_assembler runs every 3 seconds.

My problem is, in simulation and Gazebo all works fine.
But on the real system, the octomap is completely wrong.

What could be the problem here, or is there anything that works better?

Made 2 screenshots, first is just the laser scans, looks great. TF should also be ok. The 2nd one is the assembled_cloud.
The 3rd one is the octomap.

<?xml version="1.0"?>
<launch>

<include file="$(find powerball_peak_start)/launch/powerball.launch" />

<!--<include file="$(find powerball_vscom_start)/launch/powerball.launch" />-->

<!-- Laser Scanner -->
<node ns="LMS100" name="lms100" pkg="LMS1xx" type="LMS100" > 

    <param name="host" value="192.168.5.80"/>
    <param name="frame_id" value="/laser_link"/>

</node>

<!-- Laser Pipeline -->
<node type="laser_scan_assembler" pkg="laser_assembler" name="my_assembler">
    <remap from="scan" to="/LMS100/scan"/>
    <param name="max_scans" type="int" value="400" />
    <param name="fixed_frame" type="string" value="/laser_link" />
</node>

<!-- Point cloud publisher -->
<node name="periodic_snapshotter" pkg="pcl_assembler" type="periodic_snapshotter" respawn="false" output="screen" />

<!-- Octomap Server -->
<node pkg="octomap_server" type="octomap_server_node" name="octomap_server">
    <param name="resolution" value="0.05" />

    <param name="frame_id" type="string" value="base_link" />

    <param name="max_sensor_range" value="20.0" />

    <param name="latch" value="false" />
    <remap from="cloud_in" to="assembled_cloud" />

</node>

<!-- Rviz -->
<node name="rviz" pkg="rviz" type="rviz" respawn="false" output="screen" />
 </launch>