Is it icp_odometry? It looks like it is a TOF camera -like point cloud and very flat surfaces in the environment (is it a simulated environment?). If ICP doesn't have enough geometric constraints in all three axes (x-y-z), it will drift fast.
To be more robust to that kind of environment, a larger field of view sensor/camera (or multiple cameras) would be required.
If it is wheel odometry alone, it is odometry drifting. If the map is okay until a loop closure is found, then destroyed like this, you may adjust your odometry covariance and set it lower (I would suspect your odometry uses Identity matrix if so). This will avoid shewing the map like this.