Gmapping stops updating map

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Hey,

after finally getting deeper into ROS and understanding most of the things which are necessary for using the Gmapping-SLAM ( basics like tf, odom etc ) im now at the point of testing the whole thing. There is the Problem that Gmapping stops updating the map after serval scans. But first of all i want to give you a short overview:

What i want to do: Im trying to use a simulated 2D-Scanner in VREP as source for Gmapping.

Systemconfig: I use Groovy on a Ubuntu 12.04 LTS on a old IBM X41 Laptop (1.5Ghz Centrino SinglecoreCPU)

Progress:

1. I transfered the /scan and /odom-Topic from VREP to ROS.
2. I wrote some code (odom_baselink_tf.py) for tf of /base_link to /odom:

def metadata_odom(data):
    global p, q, info
    info = data
    p = data.pose.pose.position
    q = data.pose.pose.orientation
    rospy.loginfo(Received odom)
...
broadcaster.sendTransform(
  (p.x, p.y, 0), 
  (q.x, q.y, q.z, q.w),
  rosnow,
  base_lin,
  odom
  )

3 . I use a static tf transform between base_link and LaserScanner_Frame: rosrun tf static_transform_publisher 0 0 0 0 0 0 base_link LaserScanner_Frame 100

This results in the following tf-tree:

I use Gmapping with the following Settings:

    <param name="map_update_interval" value="2"/>  <!--2-->
    <param name="maxUrange" value="5.5"/> 
    <param name="sigma" value="0.05"/>
    <param name="kernelSize" value="1.0"/>
    <param name="lstep" value="0.05"/>
    <param name="astep" value="0.05"/>
    <param name="iterations" value="5"/>
    <param name="lsigma" value="0.075"/>
    <param name="ogain" value="3.0"/>
    <param name="lskip" value="0"/>
    <param name="srr" value="0.01"/>
    <param name="srt" value="0.02"/><!--1.0-->
    <param name="str" value="0.01"/>
    <param name="stt" value="0.02"/>
    <param name="linearUpdate" value="0.1"/>     
    <param name="angularUpdate" value="0.1"/>  
    <param name="temporalUpdate" value="-1.0"/> 
    <param name="resampleThreshold" value="0.5"/>
    <param name="particles" value="50"/>  <!--80-->
    <param name="xmin" value="-50.0"/>
    <param name="ymin" value="-50.0"/>
    <param name="xmax" value="50.0"/>
    <param name="ymax" value="50.0"/>
    <param name="delta" value="0.03"/>
    <param name="llsamplerange" value="0.01"/>
    <param name="llsamplestep" value="0.01"/>
    <param name="lasamplerange" value="0.005"/>
    <param name="lasamplestep" value="0.005"/>

But if i use these settings, there is the problem that Gmapping stops updating the map after serval scans. If i look at the SLAM-Debug-Messages there are serval odd messages:

update frame 7
update ld=0.0495583 ad=0.179583
Laser Pose= 13.7771 3.96148 -0.695156
m_count 7
[DEBUG] [1403512083.321312113]: TF operating on not fully resolved frame id base_link, resolving using local prefix 
[DEBUG] [1403512083.321624443]: TF operating on not fully resolved frame id odom, resolving using local prefix 
Average Scan Matching Score=164.656
neff= 49.8545
Registering Scans:Done
[DEBUG] [1403512083.931338640]: scan processed
[DEBUG] [1403512083.933940439]: new best pose: 13.752 3.943 -0.644
[DEBUG] [1403512083.935263651]: odom pose: 13.777 3.961 -0.695
[DEBUG] [1403512083.936265942]: correction: -0.025 -0.018 0.051
[DEBUG] [1403512083 ...