Map is moving with robot in rviz

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Hi. Sorry for all mistakes, English is not, my native language. I have a robot, that loads without any error and fatal messages in gazebo and already tunned nav2. As slam I use google cartographer with settings, that left from same robot but under Noertic ROS, as far as I know, there should be no problems with it. After successful launch my rviz window looks like this:

I have a suspicion, that problem lies in odometry, but cartographer is the one, who publish it, so I'm not sure. Appreciate any help.