urdf in rviz is too deep

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Hi, I setup my robot system and its working good.

I am using hector mapping with urdf and a laserscanner and I am getting the following result: I dont know why exactly the robot is kind of swimming in the world, here is my tf tree:

Another Question is now, how can I make the Robot move autonomously and how can I integrate a path planner? What is a common used module to make the robot move and avoid obstacles and crashes?

thanks in advance, felix