Flickering of map in rviz (gmapping)

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This doesn't help; the PDF from rosrun tf view_frames will only show one publisher, even if there are many.

How do we get a more detailed tf tree ?

Hello @ahendrix the first tf we publish is it correct?. If it is not can you please tell me the issue

The first TF tree you've posted is complete, but I can't tell from the screenshot whether or not there are multiple publishers. The second TF tree you've posted is incomplete; it lacks the transform from odom to base_link.

Note that this is not a forum; updates to the question should be made as edits to the question; not as answers.

Your problem could also be caused by multiple publishers of the transform between odom and base_link; is it possible that you have multiple publishers there?

I checked there is no multiple publisher between odom and base_link

You may also want to looking at the raw transform to see if either of them is changing significantly; you can try tf_echo: rosrun tf tf_echo /map /odom and rosrun tf tf_echo /odom /base_link.