mavros/local_position/pose values are totally different than the position generated from gazebo model and odometry sensors

I am trying to use mavros with px4 firmware and sitl. I have a launch file that opens a gazebo environment, spawns the drone, runs mavros, and runs px4. The robot model I used is iris. I created the following xacro with the imu, odometry and gps plugins as you can see. Then I convert it to sdf to be used. Also, I created some static transformations to the launch file as shown as well. The problem is that the position of the iris when using mavros/local_position/pose is different from ground_truth/pose generated from gazebo simulator. I do not know the source of the problem. So, 1- Is there any errors in the model used ? 2- What is the difference between parent_link and parent_frame_id link in the odometry plugin ?? 3- Are the provided static transformation right or wrong ? 4- Any other suggestions to solve this problem if more information required let me know and I will add it Thanks in Advance The xacro file for the iris as follows: 40/base_linkbase_linknavsat/fixnavsat/vel49.98.9000.0001 0.0001 0.0001 The static transformation are as follows: