trajectory with spurious points in rviz

[BBO-repo]

Environment

Use a Dockerfile with: FROM osrf/ros:jazzy-desktop-full
Then docker guest environment is:

# cat /etc/*-release
DISTRIB_ID=Ubuntu
DISTRIB_RELEASE=24.04
DISTRIB_CODENAME=noble
DISTRIB_DESCRIPTION="Ubuntu 24.04 LTS"
PRETTY_NAME="Ubuntu 24.04 LTS"
NAME="Ubuntu"
VERSION_ID="24.04"
VERSION="24.04 LTS (Noble Numbat)"
VERSION_CODENAME=noble

But host environment is:

$ cat /etc/*-release
PRETTY_NAME="Debian GNU/Linux 12 (bookworm)"
NAME="Debian GNU/Linux"
VERSION_ID="12"
VERSION="12 (bookworm)"
VERSION_CODENAME=bookworm
ID=debian

• Source or binary build?

Source obtained with a git clone https://github.com/gazebosim/ros_gz_project_template.git commit ID 043a0ba

Description

• Expected behavior: Smooth trajectory in RVIZ2
• Actual behavior: Trajectory in RVIZ2 present spurious as illustrated in the joined video
  issue-rviz-gazebo-trajectory.webm

Steps to reproduce

1. Use this Dockerfile to build your container

FROM osrf/ros:jazzy-desktop-full

WORKDIR /workspace

RUN apt update && apt -y dist-upgrade && apt install -y \
  nano git wget software-properties-common \
  ros-jazzy-ros2-control ros-jazzy-ros2-controllers \
  ros-jazzy-gz-ros2-control ros-jazzy-ros-gz \
  ros-jazzy-ackermann-msgs ros-jazzy-geometry2 \
  ros-jazzy-joint-state-publisher-gui ros-jazzy-imu-tools \
  ros-jazzy-robot-localization ros-jazzy-geographic-msgs \
  && rm -rf /var/lib/apt/lists/*

RUN echo "source /opt/ros/jazzy/setup.bash" >> ~/.bashrc

2. mkdir -p /workspace/ros2_workspace/src/
3. cd /workspace/ros2_workspace/src/
4. git clone https://github.com/gazebosim/ros_gz_project_template.git
5. cd /workspace/ros2_workspace
6. export GZ_VERSION=harmonic && colcon build --symlink-install
7. source install/setup.bash
8. ros2 launch ros_gz_example_bringup diff_drive.launch.py and in another terminal gz topic -t "/model/diff_drive/cmd_vel" -m gz.msgs.Twist -p "linear: {x: 0.5}, angular: {z: 0.05}"

Output

Trajectory in RVIZ2 present spurious as illustrated in the joined video

[BBO-repo]

Hi,
I was wondering if there were any news regarding my issue?
I've tried a fresh install of gazebo harmonic and ros2 jazzy on ubuntu noble but still produce the issue.
I've also asked the question on stackoverflow https://robotics.stackexchange.com/questions/112758/gazebo-harmonic-ros2-jazzy-trajectory-with-spurious-points-in-rviz

[BBO-repo]

The issue seems to come from this plugin

      <plugin
        filename="gz-sim-odometry-publisher-system"
        name="gz::sim::systems::OdometryPublisher">
        <odom_frame>diff_drive/odom</odom_frame>
        <robot_base_frame>diff_drive</robot_base_frame>
      </plugin>

Ploting the trajectory with a gz topic -e -t /model/diff_drive/odometry > trajectory.txt I got those spurious points in the trajectory

While disabling the gz-sim-odometry-publisher-system in the ros_gz_project_template/ros_gz_example_gazebo/worlds/diff_drive.sdf I got a clean trajectory