odometry data corrupted

[Ghada09]

I am running the latest image on RPI4 I tried doing gmapping and I noticed the map is created a lot of time in a circle, then it was because i did the static transform between base link and laser frame, the reason of rotating was the base link, the orientation coming from odometry topic is corrupted I am not even moving the drone and the data shows it is rotating, what can I do for the base_link to stop rotating around itself?