Advanced navigation using the TEB local planner - Personalized Map

Hello,

I was trying to change the map to one I made with hector_slam (.yaml) and then I put it where you call the demo.yaml file.
Also I did a world very similar so I could call it in the launch file.
When I display rviz, the tf transforms are all shaking and there are some error in the terminal.
Is there any additional change that I'll have to do?

Thanks