Map Shifting

[1140452]

Hi, I'm trying to use Hector Mapping to create a map of our race track, however when approaching a second a lap the map starts shifting to the side, like in the figure below and I'm not able to create a usable map. I've tried a lot of debugging and different configurations, but nothing seems to work. Does anybody have any clue on why this happens?

The launch files and results os rqt_graph and tf tree are shown below:
I'm using ros kinetic in ubuntu 16.04, running on a nvidia jetson tx2. The Lidar is a Hokuyo Lidar 10-LX.