build a map with hector mapping using turtlebot in gazebo

Hi, all: I want to use turtlebot_gzaebo build a map with hector mapping in gzaebo, I use keyboard to control turtlebot movement, in the simulation environment of turtlebot's movement is normal. But, in the rviz, due to odom_frame have big beat, cause failure of build mapping, can you tell me what is the cause of big beat oodm coordinate system? Thank you very much. **first at all**, I use a launch file to invok the simulated and the model of robot: ---------- ---------- **secondly**, launch hector mapping to build a map : ---------- **lastly,** I use **roslaunch turtlebot_teleop keyboard_teleop.launch** to control turtlebot movement, and use **roslaunch turtlebot_rviz_launchers view_navigation.launch** to view the effect of building mapping. But odom_frame have a big beat, cause failure of build mapping. Can you give me a tip?Thanks