bad mapping from Pmap

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bad mapping from Pmap


Why Pmap 2.0 does not have the laser-stabilized odometry driver as Pmap 1.0.
The map I got through pmaptest is not good as what I expected.
I run Segway through a square hallway, however, the map as attached is not square at all.
As Pmap 1.0 manual said, that quality is from the pure odometry data.
It seems that the map filtered after laser-stabilized odometry, partile filter will be much better.
but how?
there is no help file.