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This issue is only related with simulation processes.

Because : When I implement Gmapping on Turtlebot3, everything is okay with the initialization of frames values:

/map is fixed (0,0,0)

/odom is begin as (0,0,0) and drift due to encoder uncertainties

/Base_link (/footprint) represent the position of the robot relative to /odom and /map respectively.

So in practical process everything is alright.

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