Robot odometry offset from base_link

I have a simulated Ackermann steering robot in a gazebo environment that I use for verifying my algorithms. The robot works fine for teleoperation and hector_mapping but I am not able to get navigation working. I noticed that the odometry arrow has an offset from the robot's base link. I have set up the transformations correctly and the tf-tree is consistent with what is expected for the navigation stack. Here is a screenshot: https://imgur.com/a/ZWo1xHh When I try to send navigation goal to the robot, this happens: https://imgur.com/c9FvUkM Any help will be appreciated. :-)