Move_base stuck at Sim period

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Hello

I'm a begginer with ros

I'm trying to use move_base to control my robot but i don't know why my move_base stuck at Sim period is set to 0.20 and cant receive odom like in this https://imgur.com/E7uYihx

This is my screen while launching move_base https://imgur.com/BWQkXLA

This is my tf tree https://imgur.com/NZ7zJfw

This is my main launch file

 <launch>
  <node pkg="robot" type="lidar_tf.py" name="lidar_tf" output="screen"/>
  <node pkg="robot" type="diff_tf.py" name="diff_tf" output="screen"/>
  <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"/>
  <param name="frame_id"            type="string" value="laser"/>
  <param name="inverted"            type="bool"   value="false"/>
  <param name="angle_compensate"    type="bool"   value="true"/>
 </node>
<include file="$(find robot)/launch/gmapping.launch"/>
</launch>

This is my navigation launch file

<launch>
  <!-- Name of the map to use (without path nor extension) and initial position -->
  <arg name="map_file"       default=" $(find robot)/map/mymap.yaml"/> <!-- psu -->
  <arg name="initial_pose_x" default="20.925"/>
  <arg name="initial_pose_y" default="11.925"/>
  <arg name="initial_pose_a" default="0.0"/>
  <param name="/use_sim_time" value="true"/>

<node name="map_server" pkg="map_server" type="map_server" args="$(arg map_file)">

  </node>


<include file="$(find robot)/launch/amcl.launch.xml">
    <arg name="scan_topic" value="scan"/>
    <arg name="use_map_topic" value="true"/>
    <arg name="initial_pose_x" value="$(arg initial_pose_x)"/>
    <arg name="initial_pose_y" value="$(arg initial_pose_y)"/>
    <arg name="initial_pose_a" value="$(arg initial_pose_a)"/>
  </include>
  <!--  ************** Navigation  ***************  -->
  <include file="$(find robot)/launch/move_base.launch.xml"/>
 <!--
 <node pkg="robot" type="navigation.py" name="navigation" output="screen">
    <rosparam param="xHome">2.77388</rosparam>
    <rosparam param="YHome">-2.25284</rosparam>
    <rosparam param="xDestination">-51.225</rosparam>
    <rosparam param="yDestination">-51.225</rosparam>
 </node>
-->

</launch>\

This is my move_base

<launch>
  <arg name="odom_frame_id"   default="odom"/>
  <arg name="base_frame_id"   default="base_link"/>
  <arg name="global_frame_id" default="map"/>
  <arg name="odom_topic" default="odom" />
  <arg name="laser_topic" default="scan" />



  <node pkg="move_base" type="move_base" respawn="false" name="move_base" output="screen">
    <rosparam file="$(find robot)/param/costmap_common_params.yaml" command="load" ns="global_costmap" />
    <rosparam file="$(find robot)/param/costmap_common_params.yaml" command="load" ns="local_costmap" />   
    <rosparam file="$(find robot)/param/local_costmap_params.yaml" command="load" />   
    <rosparam file="$(find robot)/param/global_costmap_params.yaml" command="load" />
    <rosparam file="$(find robot)/param/dwa_local_planner_params.yaml" command="load" />
    <rosparam file="$(find robot)/param/move_base_params.yaml" command="load" />
    <rosparam file="$(find robot)/param/global_planner_params.yaml" command="load" />
    <rosparam file="$(find robot)/param/navfn_global_planner_params.yaml" command="load" />
    <param name="global_costmap/global_frame" value="$(arg global_frame_id)"/>
    <param name="global_costmap/robot_base_frame" value="$(arg base_frame_id)"/>
    <param name="local_costmap/global_frame" value="$(arg odom_frame_id)"/>
    <param name="local_costmap/robot_base_frame" value="$(arg base_frame_id)"/>
    <param name="DWAPlannerROS/global_frame_id" value ...