Why the SLAM have more than one maps in RVIZ? [closed]

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Could you add the screenshot that you sent to the mailing list as well, since it helps to explain what you mean?

How are you generating/publishing odometry (e.g. p2os or your own custom robot driver)? Is your odometry accurate? If you run the robot around with the fixed frame in rviz set to "/odom" and set the laser scan's "Decay time" to a large number, do you get a mostly consistent looking map?

as you can see from the screenshot, the map is jumping from one place to another

I guess I wasn't clear about the "mostly consistent map". This would be without SLAM running, just using your odometry source to place the buffered laser scans into a mostly consistent reference frame.

I set the fixed frames to "/odom" and set the laser scan's "delay time" to 10 seconds. It seems that I do not get the "mostly consistent map", because when the robot is running I cannot see the map in rviz until the robot is stoped.

Further more, I got an error message. Error: m_distanceThesholdCheck overridden!!! ... the odometry has a big jump here. this is probably a bug in the odometry/laser input. This error has been happened someday ago, I rewrite the odomety program to fix it. At that time, the formula was wrong.

Additional, I published odometry using the relative distance computed from odometry which provided by driver. The odmetry was like that : x = (current_odometry - last_odometry)*cos(theta), y = (current_odometry - last_odometry)*sin(theta), the theta was absolute value provided by gyro.