integration with my robot outputs inaccurate map

[mhowe8]

I have integrated the elevation_mapping software with my own multicamera robot. There is a camera in the front and a camera in the back. At first it was working fine, but something changed and now the map becomes more inaccurate the more I move. Here, when I spawn in, the map is accurate.

However, after moving around a bit, the map slowly starts to get distorted.

The general shape of the landscape is right, but it starts to degenerate, and if I move even more, it becomes unrecognizable.

Could you please offer some suggestions as to what could be the issue?

[bestavra]

Hi @mhowe8, isn't odometry drift the problem? Or how do you estimate robot pose?