Problem with amcl (laser will not align with map after moving)

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I have created a map using hector_slam, loaded the map via map_server. Run my odometry and amcl for localization, at first the laserscan aligns with the map but then when i move the robot using teleop_twist_keyboard the laserscan gets mis aligned. Is this suppose to act this way? I tried changing the Fixed Frame from(laser,map,odom,base_link) and all has the same result. Can anyone identify whats causing the problem? Thanks in advance :)

ROS melodic ROS Master: Raspberry pi 4 ROS Slave: Raspberry pi 4

Master terminal:

1.roscore
2.mimi.launch

Slave terminal:

mimi.launch

Ros Master Launch file:

<launch>

    <node pkg="amcl" type="amcl" name="amcl" output="screen">
       <!-- Publish scans from best pose at a max of 10 Hz -->
      <param name="odom_model_type" value="diff"/>
      <param name="odom_alpha5" value="0.1"/>
      <param name="transform_tolerance" value="0.2" />
      <param name="gui_publish_rate" value="10.0"/>
      <param name="laser_max_beams" value="30"/>
      <param name="min_particles" value="500"/>
      <param name="max_particles" value="5000"/>
      <param name="kld_err" value="0.05"/>
      <param name="kld_z" value="0.99"/>
      <param name="odom_alpha1" value="0.2"/>
      <param name="odom_alpha2" value="0.2"/>
      <!-- translation std dev, m -->
      <param name="odom_alpha3" value="0.8"/>
      <param name="odom_alpha4" value="0.2"/>
      <param name="laser_z_hit" value="0.5"/>
      <param name="laser_z_short" value="0.05"/>
      <param name="laser_z_max" value="0.05"/>
      <param name="laser_z_rand" value="0.5"/>
      <param name="laser_sigma_hit" value="0.2"/>
      <param name="laser_lambda_short" value="0.1"/>
      <param name="laser_lambda_short" value="0.1"/>
      <param name="laser_model_type" value="likelihood_field"/>
      <!-- <param name="laser_model_type" value="beam"/> -->
      <param name="laser_likelihood_max_dist" value="2.0"/>
      <param name="update_min_d" value="0.2"/>
      <param name="update_min_a" value="0.5"/>
      <param name="odom_frame_id" value="odom"/>
      <param name="resample_interval" value="1"/>
      <param name="transform_tolerance" value="0.2"/>
      <param name="recovery_alpha_slow" value="0.0"/>
      <param name="recovery_alpha_fast" value="0.0"/>
    </node>
    <!--node pkg="tf" type="static_transform_publisher" name="base_laser" args="0 0 0 0 0 0 base_link laser 100"/-->
    <node pkg="teleop_twist_keyboard" name="teleop_twist_keyboard" type="teleop_twist_keyboard.py" output="screen"/> 
    <node pkg="rviz" type="rviz" name="rviz"/>

</launch>

Ros Slave Launch file:

 <launch>
  <node name="rplidarNode"          pkg="rplidar_ros"  type="rplidarNode" output="screen">
  <param name="serial_port"         type="string" value="/dev/ttyUSB0"/>
  <param name="serial_baudrate"     type="int"    value="115200"/><!--A1/A2 -->
  <!--param name="serial_baudrate"     type="int"    value="256000"--><!--A3 -->
  <param name="frame_id"            type="string" value="laser"/>
  <param name="inverted"            type="bool"   value="false"/>
  <param name="angle_compensate"    type="bool"   value="true"/>
  </node>
<node pkg="mimi_2dnav" name="odom" type="odom.py" output="screen"/>
<node pkg="mimi_2dnav" name="subscrib" type="subscrib.py" output="screen"/>
<node pkg="map_server" type="map_server" name="map_server" args="/home/pi/catkin_workspace/src/navigation/map_server/m.yaml" />
<node pkg="tf" type="static_transform_publisher" name="base_link_to_laser" args="0.0 0 ...