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Due to the video , this is not a rviz problem , reason why you see the rviz visualisation perform this way is because your robot had a wheel slip , and there was a mismatch.Rviz has nothing to do with this.

Due to the video , this is not a rviz problem , reason why you see the rviz visualisation perform this way is because your robot had a wheel slip , and there was a mismatch.Rviz has nothing to do with this.