laserscan_to_map triggered position jump

[BuRaGaZz]

hye i've use neonavigation and has been sucessfull using it to move like in your example. i want to try the obstacle avoidance. when i use laserscan to map. after i make the overlay very small. It's still make the robot move left and right and triggered position jump. after i turn off the pkg using laserscan to map. my robot go straight again

[at-wat]

Could you post the launch and yaml files? Or screencast?