navigation with husky on Rviz and Gazebo : robot sliding and odom problem

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Hello,

I am trying to navigate in a simple closed world with a husky robot, using move_base. I mapped the world with hector_mapping. When I navigate with move_base, the /encoder topic published by the ekf doesn't match with the /odom topic (/odom_combined).

Here are the frames :

map -> odom_combined -> base_footprint -> base_link

• map -> odom_combined : own broadcaster ("manual")
• odom_combined -> base_footprint : robot_pose_ekf
• base_footprint -> base_link : robot_state_publisher

AND

map-> odom : amcl

Launching move_base:

<node pkg="move_base" type="move_base" respawn="false" name="move_base" output="screen">
  <remap from="/cmd_vel" to="/husky/cmd_vel_unsafe" /> 
  (and parameters)
</node>

Here are the notable arguments of localization (amcl) launching file :

<include file="$(find gazebo_simulation)/launch/includes/amcl.launch.xml">
        <arg name="scan_topic" value="/sick/scan"/>
        <arg name="odom_frame_id" value="odom_combined"/>
        <arg name="base_frame_id" value="base_footprint"/>
</include>

The other point is that the robot doesn't go straight away but always slides when publishing :

$rostopic pub -r 4 /husky/cmd_vel_unsafe geometry_msgs/Twist '{linear: {x: 1.0, y: 0.0, z: 0.0 }, angular: {x: 0.0, y: 0.0, z: 0.0 } }'

Any idea? Is it from gazebo world or from parameters of the robot?

Thank you