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I have solved the problem. The reason is that the setting of angle_range and position of Sick sensor on the robot cause the laser beam hit the planes of robot. I solved this problem by reduce the angle_range (scan angular range). Or, locating the laser sensor a little bit far from current position to avoid collision between laser beam and robot's planes. Because the movement of robot is not smooth, robot fluctuates around the desired path. That's the reason. Thanks so much for all your help

I have solved the problem. The reason is that the setting of angle_range and position of Sick sensor on the robot cause the laser beam hit the planes of robot. I solved this problem by reduce the angle_range (scan angular range). Since I am using 2 sensor at 2 corners of robot, so the angle_range is from -135 to 135 degree, I just changed to -130 to 130 degree. Or, later, locating the laser sensor a little bit far from current position to avoid collision between laser beam and robot's planes. Because the movement of robot is not smooth, robot fluctuates around the desired path. That's the reason. Thanks so much for all your help