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It sounds like you are exceeding the bandwidth and the packets are getting jumbled.
As a quick sanity check, figure out how much data you are actually sending per second.
The odometry message has a geometry_msg/PoseWithCovariance and a geometry_msg/TwistWithCovarience field. The covariance is a float64[36]. This means to send just the covariances you 2* 836=576 bytes. It is another 268=208 bytes to send the Twist and Pose. Total= 784 per message. Multiply that by the rate to get the bandwidth used.
TFs are also another source of huge data transfer.
You cant send that much data back and forth between the computer and the arduino. You need to throttle it.
Cheers, Adam
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