Is my LiDAR limiting the occupancy grid? Or is it just tunning problem?

[marcoluis97]

Greetings!

I have been trying to tune my cartographer generated maps for some time now, but have still not found the ideal configuration. My rosbag validation is presented in the following gist: https://gist.github.com/marcoluis97/b91065e2720f9bd4867ac94ecc8466e8

I see there is a warning regarding the the point data frequency/latency, but I believe that it is a physical limitation of the LiDAR, as my Hokuyo URG-04LX-UG01 has only a input frequency of 10Hz.

The bag recording containing the sensor data: https://drive.google.com/drive/folders/1XpLUaSrnH09MTp7wagaiVjWwnsYiw-dF?usp=sharing

All the files necessary to replicate the cartographer run: https://github.com/marcoluis97/cartographer_ros_charmie

The resulting map is presented below:

As you can see, the resulting map still presents some artifacts, such as double lines and free spaces beyond some of the boundaries. I would like to eliminate these and achieve a more clear representation of the space.

Thank you for all the help provided in advance!