Otomap_server octomap mapping problem

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I am using octomap_mapping to generate map in Rviz.

<launch> <node pkg="octomap_server" type="octomap_server_node" name="octomap_server">

    <!-- fixed map frame (set to 'map' if SLAM or localization running!) -->
    <param name="frame_id" type="string" value="world" />

    <!-- maximum range to integrate (speedup!) -->
    <param name="sensor_model/max_range" value="5.0" />

    <!-- data source to integrate (PointCloud2) -->
    <remap from="cloud_in" to="/camera/depth/points" />

TF looks like this:

I am trying to simulate this in gazebo:

But it seems the map is not correct after I manually moving the drone (Map looks good if I don't move the drone):

I think octomap_server doesn't require you to align pointclouds, so what is the reason for my problem? Thanks in advance!!!

Drone Model:

    <model name='sjtu_drone'>
  <plugin name='simple_drone' filename='libplugin_drone.so'>
    <bodyName>base_link</bodyName>
    <imuTopic>/drone/imu</imuTopic>
    <rollpitchProportionalGain>10.0</rollpitchProportionalGain>
    <rollpitchDifferentialGain>5.0</rollpitchDifferentialGain>
    <rollpitchLimit>0.5</rollpitchLimit>
    <yawProportionalGain>2.0</yawProportionalGain>
    <yawDifferentialGain>1.0</yawDifferentialGain>
    <yawLimit>1.5</yawLimit>
    <velocityXYProportionalGain>5.0</velocityXYProportionalGain>
    <velocityXYDifferentialGain>2.3</velocityXYDifferentialGain>
    <velocityXYLimit>2</velocityXYLimit>
    <velocityZProportionalGain>5.0</velocityZProportionalGain>
    <velocityZDifferentialGain>1.0</velocityZDifferentialGain>
    <velocityZLimit>-1</velocityZLimit>
    <positionXYProportionalGain>1.1</positionXYProportionalGain>
    <positionXYDifferentialGain>0.0</positionXYDifferentialGain>
    <positionXYIntegralGain>0.0</positionXYIntegralGain>
    <positionXYLimit>5</positionXYLimit>
    <positionZProportionalGain>1.0</positionZProportionalGain>
    <positionZDifferentialGain>0.2</positionZDifferentialGain>
    <positionZLimit>-1</positionZLimit>
    <maxForce>30</maxForce>
    <motionSmallNoise>0.05</motionSmallNoise>
    <motionDriftNoise>0.03</motionDriftNoise>
    <motionDriftNoiseTime>5.0</motionDriftNoiseTime>
  </plugin>
  <plugin name="p3d_base_controller" filename="libgazebo_ros_p3d.so">
    <alwaysOn>true</alwaysOn>
    <updateRate>50.0</updateRate>
    <bodyName>base_link</bodyName>
    <topicName>odom</topicName>
    <gaussianNoise>0.01</gaussianNoise>
    <frameName>world</frameName>
    <xyzOffsets>0 0 0</xyzOffsets>
    <rpyOffsets>0 0 0</rpyOffsets>
  </plugin>
  <pose frame=''>0 1 1 0 -0 1.6</pose>
  <link name='base_link'>
    <inertial>
      <mass>1.477</mass>
      <pose frame=''>0 0 0 0 -0 0</pose>
      <inertia>
        <ixx>0.1152</ixx>
        <ixy>0</ixy>
        <ixz>0</ixz>
        <iyy>0.1152</iyy>
        <iyz>0</iyz>
        <izz>0.218</izz>
      </inertia>
    </inertial>
    <visual name='visual'>
      <geometry>
        <mesh>
          <uri>file://models/sjtu_drone/quadrotor_4.dae</uri>
        </mesh>
      </geometry>
    </visual>
    <collision name='collision'>
      <geometry>
        <mesh>
          <uri>file://models/sjtu_drone/quadrotor_4.dae</uri>
        </mesh>
      </geometry>
      <max_contacts>10</max_contacts>
      <surface>
        <contact>
          <ode/>
        </contact>
        <bounce/>
        <friction>
          <torsional>
            <ode/>
          </torsional>
          <ode/>
        </friction>
      </surface>
    </collision>
    <gravity>1</gravity>
    <sensor name='sensor_imu' type='imu'>
      <always_on>1</always_on>
      <update_rate>100</update_rate>
      <pose frame=''>0 0 0 0 -0 0</pose>
      <plugin name='ros_imu' filename='libplugin_ros_imu.so'/>
      <imu>
        <angular_velocity>
          <x>
            <noise type='gaussian'>
              <mean>0</mean>
              <stddev>0</stddev>
            </noise>
          </x>
          <y>
            <noise type='gaussian'>
              <mean>0</mean>
              <stddev>0</stddev>
            </noise>
          </y>
          <z>
            <noise type='gaussian'>
              <mean>0</mean>
              <stddev>0</stddev>
            </noise>
          </z>
        </angular_velocity>
        <linear_acceleration>
          <x>
            <noise type='gaussian'>
              <mean>0</mean>
              <stddev>0</stddev>
            </noise>
          </x>
          <y>
            <noise type='gaussian'>
              <mean>0</mean>
              <stddev>0</stddev>
            </noise>
          </y>
          <z>
            <noise type='gaussian'>
              <mean>0</mean>
              <stddev>0</stddev>
            </noise>
          </z>
        </linear_acceleration>
      </imu>
    </sensor>
    <sensor name='camera2' type='depth'>
      <camera name='__default__'>
        <horizontal_fov>1.8</horizontal_fov>
        <image>
          <width>640</width>
          <height>480</height>
          <format>R8G8B8</format>
        </image>
        <clip>
          <near>0.02</near>
          <far>100</far>
        </clip>
        <noise>
          <type>gaussian</type>
          <mean>0< ...