Odometry Error With racecar

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Hello, I'm an beginner of Ross. This time, I am working on a project to create a self-driving car to explore new areas through ros cartograph. However, while controlling racecar based on jetson tx2 through joystick and 'mapping' based on cartograph algorithm through data value obtained from rplidar, we encountered difficulties.

I was just following the racecar project of f1tenth, and there was a problem. The odometry is constantly moving in one direction without any action. Is there anyone who knows how to solve these problems or people who are experiencing the same problem?