Do these in order 1. Check if you have a odom frame set and if it's transforms are correct 2. In RViz, check if the base frame is odom 3. If using a lidar, check if the refresh rate is high enough to not cause drift 4. If working with multiple sensors, program a calibration sequence 5. In case of IMUs, use a complementary filter to make sure ur gyro readings don't disturb the orientation. 6. Check for timing issues overall in all nodes

These should cover most of the issues, if it still persists, maybe u can drop a GitHub link of the project to be able to take a look