We ran your code but met a problem.
The problem is that the loaded robot model can't run within the map.
I guess it's caused by that the coordinate system's origin of /odom and /map is mismatching, however I can't solve it.
![rviz](https://user-images.githubusercontent.com/48192000/89369721-8b515300-d711-11ea-90f3-b974e0285cdc.png)
Can you help me? Looking forward to your reply. Thanks.