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It seems like your simulated LaserScan does not properly fill beyond max range scan points. This makes gmapping update the map with the max range LIDAR end points, essentially leading the system to believe the robot is inside a round room. This of course leads to all sorts of problems, as the general shape of the LIDAR scan does not change, even though the robot is moving. The LIDAR scan for the round obstacle in your GUI also doesn't look quite as expected.