Today I have solved a lot of bugs and glitches that is making the project not work properly. These the the things i changed today:

1. The yellow wire of the encoder was loose so i had to resolder that.
2. I use a screw terminal for the power of the motors which is 3.3v and i had to replace the screw terminal
3. I had to change the dimensions of the rover correctly in odom_publisher.py

also for debugging i did use a bit of AI.

and a last it works perfectly. though i have to control it manually its now ale to make the map accurately.