Lidar data inflation not along with map by using rf2o

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when i manually driving the AGV by human , Lidar data inflation along with map by using rf2o . then i drive by using Ardunio , Lidar data inflation not along with map . I wonder what cause of problem . System that i use 1.turtlebot3 navigation 2.rf2o odometry.

This link that show driving by human ,this problem is when agv rotate or turn lidar data inflation along with map . link text(https://youtube.com/shorts/jk9drbDLjB...

If you want more information , you can tell me . Thank you.