Gmapping is not working with Velodyne VLP-16 puck

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Hi, I am having issues to use a custom bot using my urdf file and a motor controller from Odrive robotics and a VLP-16 puck.

The issues is the laser and Map does not link together. When I move the robot both laser and Map moves and the map gets destroyed.

Part of my URDF is as follows where the base_frame is base_frootprint.

    <robot name="delbot">

      <link name="base_link">
        <visual>
          <geometry>
              <box size=".8128 0.588 0.45"/>
          </geometry>
          <material name="white">
            <color rgba="1 1 1 1" />
          </material>
        </visual>
        <inertial>
          <mass value="2" />
          <inertia ixx="0.1438" ixy="0.0" ixz="0.0" iyy="0.1677" iyz="0.0" izz="0.0913" />
        </inertial>
        <collision>
          <geometry>
              <box size=".8128 0.588 0.45"/>
          </geometry>

        </collision>
      </link>

    <link name="velodyne">
    <inertial>
            <mass value="1.0" />
            <inertia ixx="0.004375" ixy="0.0" ixz="0" iyy="0.004375" iyz="0" izz="0.005" />
    </inertial>

    <visual>

      <geometry>
        <cylinder radius="0.1" length="0.15"/>
      </geometry>
      <material name="gray">
        <color rgba=".2 .2 .2 1"/>
      </material>
    </visual>

    <collision>
      <geometry>
          <box size="0.1 0.1 0.1"/>
      </geometry>
    </collision>
  </link>

  <joint name="lidar_joint" type="fixed">
    <origin xyz="-0.1 0 0.25" rpy="0 0.0 1.57"/>
    <parent link="base_link"/>
    <child link="velodyne"/>
    <axis xyz="0.0 0.0 1.0"/>

  </joint>

And My Launch file looks like

<launch>

    <param name="robot_description" textfile="$(find samplebot)/urdf/expertbot.urdf" />  

    <node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" output="screen"/>

    <node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher"/>

    <node name="Joint_tester" pkg="rviz" type="rviz" output="screen" args="-d $(find samplebot)/config/samplebot.rviz"/>

  <!-- SLAM-Gmapping Start-->
    <node pkg="gmapping" type="slam_gmapping" name="maping_node">
      <param name="pub_map_odom_transform" value="true"/>
      <remap from="/PointCloud2" to="/scan"/>
      <param name="base_frame" value="base_link"/>
      <param name="odom_frame" value="odom"/>
      <param name="map_frame" value="map"/>
    </node>
  <!-- SLAM-Gmapping Start-->

</launch>