TF suddenly shifts

edit

Hi! I'm trying to make a map with hector and my problem is about TF because although I use 2D pose estimate, after a short time the axes will move suddenly. My launch file has this part inside:

<node pkg="tf" type="static_transform_publisher" name="map_to_odom" args="0.0 0.0 0.0 0 0 0.0 /odom /base_link 10"/>
<param name="tf_map_scanmatch_transform_frame_name" value="scanmatcher_frame"/>
<node pkg="tf" type="static_transform_publisher" name="base_frame_laser" args="0 0 0 0 0 0 /base_link /neato_laser 10"/>

The node that I use is given by

rosrun tf static_transform_publisher x y z yaw pitch roll frame_id child_frame_id period_in_ms

Where am I doing wrong? Also if I rotate my LIDAR a bit faster, the TF can not follow the movement, so what parameter I have to change in launch file? Thank you all.