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My gmapping.launch file that solved the problem:

<launch>
  <node pkg="gmapping" type="slam_gmapping" name="slam_gmapping" output="screen">
    <rosparam>
      odom_frame: odom
      map_update_interval: 0.5
      maxUrange: 30.0
      maxRange: 60.0
      sigma: 0.05
      kernelSize: 1
      lstep: 0.05
      astep: 0.05
      iterations: 5
      lsigma: 0.075
      ogain: 3.0
      lskip: 0
      linearUpdate: 0.5
      angularUpdate: 0.436
      temporalUpdate: -1.0
      resampleThreshold: 0.5
      particles: 80
      xmin: -1.0
      ymin: -1.0
      xmax: 1.0
      ymax: 1.0
      delta: 0.025
      llsamplerange: 0.01
      llsamplestep: 0.01
      lasamplerange: 0.005
      lasamplestep: 0.005
      base_frame: base_footprint
    </rosparam>
  </node>
</launch>