[Kinetic] mapping is inaccurate

Hi all I created my own launch file for gmapping however the map generated in RVIZ is really inaccurate compared to the Gazebo world. Is there any solution to this? My robot's speed was at 10 on the keyboard teleop and rotation was done in slow movements. My launch file codes are as follows: File: my_gmapping_launch.launch File: gmapping_params.yaml base_frame: base_footprint odom_frame: odom map_update_interval: 5.0 maxUrange: 6.0 maxRange: 8.0 minimumScore: 200 linearUpdate: 0.1 angularUpdate: 0.1 temporalUpdate: -1.0 resampleThreshold: 0.5 particles: 80 lskip: 10 xmin: -10 ymin: -10 xmax: 10 ymax: 10 delta: 0.05 llsamplerange: 0.01 llsamplestep: 0.01 lasamplerange: 0.005 lasamplestep: 0.005 RVIZ mapping result and RVIZ settings -    Gazebo world -  After creating my map I'll be running my amcl launch file to localize my robot in the map.