how to fix frames jumping?!

edit

hi I have used rtabmap as map provider, and two instances of robot-localization pkg. I have merged /rtabmap/odom and /rtabmap/localization_pose with the global odometry information, for the case that gps is not available, it moves based on the rtabmap odometry information. I used 3d lidar, rtk-gps, imu, wheel odometer. I have used https://github.com/nickcharron/waypoi... for navigation based on gps.

but as i launched all the files, i rviz, everything keeps moving, in the following video i have set globalframe: map, and you can see that frames are jumping. Would you please help me to resolve this issue:

https://www.youtube.com/watch?v=M1KqZ...

Thanks