navigation with husky on Rviz and Gazebo : robot sliding and odom problem

Hello, I am trying to navigate in a simple closed world with a husky robot, using move_base. I mapped the world with hector_mapping. When I navigate with move_base, the /encoder topic published by the ekf doesn't match with the /odom topic (/odom_combined). Here are the frames : map -> odom_combined -> base_footprint -> base_link - map -> odom_combined : own broadcaster ("manual") - odom_combined -> base_footprint : robot_pose_ekf - base_footprint -> base_link : robot_state_publisher AND map-> odom : amcl Launching move_base: (and parameters) Here are the notable arguments of localization (amcl) launching file : The other point is that the robot doesn't go straight away but always slides when publishing : $rostopic pub -r 4 /husky/cmd_vel_unsafe geometry_msgs/Twist '{linear: {x: 1.0, y: 0.0, z: 0.0 }, angular: {x: 0.0, y: 0.0, z: 0.0 } }' Any idea? Is it from gazebo world or from parameters of the robot? Thank you