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Hi,

For your point 2. maybe no loop closures were found so the map is not corrected. Since you use a fake scan from Kinect, you may lower the Icp/CorrespondenceRatio (set to 0.25 in your launch). Don't decrease it below 0.1 as lower the threshold is, better chance to accept a wrong transformation.

To know if there are loop closures in the map, you can add the rtabmap_ros/MapGraph display in RVIZ. The red links are the loop closure links (blue links are odometry links). You can also look at the terminal for possible warnings telling if a loop closure is rejected.

cheers