Point Cloud Registration Delay Problem

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Hey guys, I am trying to register point clouds with the position. I save the ground truth position and orientation taken from gazebo in the odometry callback function and in the point cloud callback function, I apply rotation and translation to point cloud according to the equations here. Everything works fine if the mobile robot goes straight forward but when it turns, registered point cloud slips as seen here. I guess there is a delay between the time that I take odometry information and point cloud. I set queue sizes to 1. And I change the frequency but I have still the same problem. Can anyone tell me what am I doing wrong? Did anyone tried to the same georeferencing?

I could not upload images to here because I dont have 5 points. it is ridiculous :D