Map Appears Hazy/Messy

[kevinatorchen]

I am a researcher at a university, and I am having difficulty configuring Cartographer to be used for our Fetch Robot. The map that the Cartographer produces looks very hazy and uncertain. Below is a screenshot from rviz:

I generated this map by launching a Fetch Robot simulator (just the freight, or robot base). I then recorded it moving around in a playground by outputting it into a bag file.

This is the output when running cartographer_rosbag_validate on the bag file I generated:
https://gist.github.com/kevinatorchen/37de52028a094cc9e651f862a9572d48

Below is the bag file (along with the pbstream file):
https://drive.google.com/file/d/1PXoN82T1-nMEwHiABodwad-_lAdVLFJP/view?usp=sharing
https://drive.google.com/file/d/1ilJac5ilCPXD6HVah5vsz68l83KUd8Hw/view?usp=sharing

Here is my fork of cartographer_fetch:
https://github.com/kevinatorchen/cartographer_fetch

The only significant difference between my fork and the main cartographer_fetch repo is that I created a launch file (along with a configuration file used in that launch file) to launch the cartographer_ros node for a Fetch robot in simulation, along with Rviz.

Thank you for your help!