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I have three ideas. I hope one of them will improve the situation.

1

args="0 0 0 0 0 0 base_link keyence_laser 100">

It is possible that the LiDAR mounting direction does not match the settings. It is recommended to view the /scan topic in rviz and observe the reaction when you move the robot.

2

maxUrange < maximum range of the real sensor <= maxRange

It is possible that this is not met.

3

<param name="map_update_interval" value="5.0"/> > <param name="map_update_interval" value="5.0

If the processing can keep up, reducing the value may improve the map creation.

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