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So, at least one problem is that you're getting a lot of ground hits. At about 4.5m from the robot, your laser is seeing the floor. That kind of thing will cause problems with both mapping and localization. Try tilting your laser up a little bit, maybe with a small shim. Just a small adjustment should do it. Post another bag with the shimmed laser, and I'll have a look.

But I have to admit that it should be possible to filter out those ground hits with the ~maxRange and ~maxUrange parameters in gmapping, and I was unable to make that work. So there may be something else going on.