robot position not correct

edit

Here is the rosgraph of the ros nodes i am running in my system. Here the rviz node is in my local linux computer and other nodes like move base, cv_camera, base controller are running in raspberry pi 4. Here as i saw multiple nodes are publishing the tf node. Problem i'm getting is that, the robot is not positioned in one place + map is changing its position. Here is the roswtf output:

Found 2 warning(s).
Warnings are things that may be just fine, but are sometimes at fault

WARNING The following node subscriptions are unconnected:
 * /medicbot/ekf_se:
   * /medicbot/set_pose
   * /medicbot/amcl_pose_
   * /medicbot/cmd_vel
 * /medicbot/amcl:
   * /medicbot/initialpose
 * /medicbot/rviz:
   * /medicbot/map_updates

WARNING These nodes have died:
 * medicbot/ros_control_controller_manager-9


Found 2 error(s).

ERROR The following nodes should be connected but aren't:
 * /medicbot/move_base->/medicbot/move_base (/medicbot/move_base/local_costmap/footprint)
 * /medicbot/move_base->/medicbot/move_base (/medicbot/move_base/global_costmap/footprint)

ERROR TF multiple authority contention:
 * node [/medicbot/medicbot_hardware_interface] publishing transform [base_link] with parent [odom] already published by node [/medicbot/ekf_se]
 * node [/medicbot/ekf_se] publishing transform [base_link] with parent [odom] already published by node [/medicbot/medicbot_hardware_interface]