Camera navigation with ros

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Hello,
I'm facing some problems with my navigation with a camera.
I'm new to ROS. So I use an Intel D435i, Nvidia Jetson Nano.
I'm using rs_camera.launch to launch the camera, that work fine then i transform Pointcloud to Laserscan so i see the delimitation of my play area. So that get me a Laserscan of the wall of my play area.
Then i launch my rviz and navigation program so on rviz i see the wall are at the same place on real-life and on my map.
I make the robot move with 2d nav goal it works fine but then the laserscan is shifted from the rviz map and the more i make the robot move the more the laserscan is shifted.
And i would need help with that. https://drive.google.com/open?id=1mLg... my repo the launcher i use is odom_navigation