amcl localizing offset problem

I am trying to do 2d navigation. However, for some reason, every time the robot turns roughly 100 degrees or so, its orientation is offset. So I tried just using amcl + map_server file and it's the same thing. What should I do? I posted a link for visualization: https://youtu.be/gaihdHyQQH8 Here's my urg_node launch file: For tf: rosrun tf static_transform_publisher 0.0.1 0 0.06 0 0 0 1 base_link laser 100 For amcl: