i have a simple robot with a map=>odom=>base_link=>(Wheels & Sensors links)TF

im trying to publish the encoder data from odom to base_link

and im using slam_gmapping with these params

<arg name="scan_topic"  default="scan" />
<arg name="base_frame"  default="lidar_link"/>
<arg name="odom_frame"  default="odom"/>

<node pkg="tf" type="static_transform_publisher" name="laser_transform" args="0 0 0.3 0 0 0 /base_link /lidar_link 100"/>

AND MY ROBOT IS DRIFTING EVERY 4S

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AFTER LOOKING TO MY TF I SAW THAT THERE ARE A DIFFERENT IN THE (AVERAGE RATE) BETWEEEN MAP AND ODOM

how i can improve the odom average rate or at least make the MAP the same with ODOM

**NOTE THAT im publishing the encoder data using rosserial arduino and im working with arduino MEGA

you can see the tf here