Drifting while mapping

[mhmddirani]

I am using Kuka OmniROb from CoppeliaSim with 2 sicks300 sensors and merging their data into one for the /scan topic.
Ros2 Humble on Ubunto 22.04.

When the robot is firstly initialized the map is reading the sensors and detecting obstacles

but when the robot starts moving a lot of drifting and swinging in the obstacles appear.

If you please help me to know exactly what should I adjust.
here are my codes:

coppelia lua script:
lua script.txt

here are the ekf and slam yaml config files:

ekf_yaml_config.txt
slam_yaml_config.txt

Thank You in advance