odometry drift while creating 2D occupancy map

[nizwajaved]

Hello,

I ma using odom+lidar+realsense435i for navigation on dingo robot by clearpath electronics. Whenever I start mapping, gradually i see the map shifting as the robot rotates as shown in the picture below

Here is my rtabmap launch file:

rtabmap.launch
and here is my rqt_graph output




Can someone please point out what am I doing wrong?


Thanks!

[matlabbe]

the screenshot is quite small, can you share the database?