I'm trying to build a 2D map using Velodyne VLP-16, I have the csm, ICP scan matcher working but when I try to build a map using gmapping, it creates a overlapping map, I'm using the pointcloud_to_laserscan package to convert the pointcloud2 to a laserscan.gmapping.launch and gmapping.text is part of the data I'm getting. I'm not using odometry, instead I'm publishing fake odometry from the by setting the fixed_frame as /odom in the laser_scan_matcher.
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And this is rqt_graph:
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