Odom sometimes stuck

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Hi everyone, I'm using custom build ROS based robot. The robot manage to navigates well. However, sometimes I found that the robot navigate out of the line,overshoot the path and the amcl pose jump. Rosbag everything and noticed that odom value stuck around 1 secs and less before amcl pose start to jump. First thought crossed my mind that might be the communication problem of usb to serial devices.