In Gazebo Harmonic, it occurs strange behavior

[atinfinity]

Environment

• OS Version: Ubuntu 24.04
• Source or binary build?: binary build

Result of ros2 doctor --report

   PACKAGE VERSIONS
megarover_samples_ros2                    : latest=N/A, local=0.0.0
lifecycle                                 : latest=0.33.5, local=0.33.5
desktop                                   : latest=0.11.0, local=0.11.0
ament_cmake_python                        : latest=2.5.2, local=2.5.2
rosidl_typesupport_introspection_c        : latest=4.6.4, local=4.6.4
ament_cmake_pep257                        : latest=0.17.1, local=0.17.1
ros2action                                : latest=0.32.1, local=0.32.1
rosidl_adapter                            : latest=4.6.4, local=4.6.4
rqt_bag                                   : latest=1.5.4, local=1.5.4
rosbag2_storage_mcap                      : latest=0.26.5, local=0.26.5
rpyutils                                  : latest=0.4.1, local=0.4.1
qt_gui_py_common                          : latest=2.7.4, local=2.7.4
tf2                                       : latest=0.36.4, local=0.36.4
teleop_twist_keyboard                     : latest=2.4.0, local=2.4.0
rcl_logging_interface                     : latest=3.1.0, local=3.1.0
examples_rclcpp_minimal_service           : latest=0.19.4, local=0.19.4
python_cmake_module                       : latest=0.11.1, local=0.11.1
urdf                                      : latest=2.10.0, local=2.10.0
rosidl_typesupport_c                      : latest=3.2.2, local=3.2.2
quality_of_service_demo_py                : latest=0.33.5, local=0.33.5
tf2_sensor_msgs                           : latest=0.36.4, local=0.36.4
example_interfaces                        : latest=0.12.0, local=0.12.0
ament_cmake_target_dependencies           : latest=2.5.2, local=2.5.2
rqt_py_common                             : latest=1.6.0, local=1.6.0
launch_yaml                               : latest=3.4.2, local=3.4.2
shared_queues_vendor                      : latest=0.26.5, local=0.26.5
composition_interfaces                    : latest=2.0.2, local=2.0.2
turtlesim                                 : latest=1.8.3, local=1.8.3
ament_cmake_export_dependencies           : latest=2.5.2, local=2.5.2
rmw_dds_common                            : latest=3.1.0, local=3.1.0
dummy_sensors                             : latest=0.33.5, local=0.33.5
pendulum_control                          : latest=0.33.5, local=0.33.5
ament_cmake_export_targets                : latest=2.5.2, local=2.5.2
tf2_eigen                                 : latest=0.36.4, local=0.36.4
rcutils                                   : latest=6.7.2, local=6.7.2
pcl_msgs                                  : latest=1.0.0, local=1.0.0
ament_index_cpp                           : latest=1.8.1, local=1.8.1
demo_nodes_py                             : latest=0.33.5, local=0.33.5
rviz_common                               : latest=14.1.5, local=14.1.5
ament_cmake_cpplint                       : latest=0.17.1, local=0.17.1
topic_monitor                             : latest=0.33.5, local=0.33.5
ament_cmake_lint_cmake                    : latest=0.17.1, local=0.17.1
ament_cmake_export_interfaces             : latest=2.5.2, local=2.5.2
rttest                                    : latest=0.17.0, local=0.17.0
diagnostic_msgs                           : latest=5.3.5, local=5.3.5
rosidl_generator_c                        : latest=4.6.4, local=4.6.4
ros_environment                           : latest=4.2.1, local=4.2.1
statistics_msgs                           : latest=2.0.2, local=2.0.2
demo_nodes_cpp                            : latest=0.33.5, local=0.33.5
ros_base                                  : latest=0.11.0, local=0.11.0
std_msgs                                  : latest=5.3.5, local=5.3.5
ament_uncrustify                          : latest=0.17.1, local=0.17.1
rqt_gui_cpp                               : latest=1.6.0, local=1.6.0
ament_lint_auto                           : latest=0.17.1, local=0.17.1
image_tools                               : latest=0.33.5, local=0.33.5
ament_cmake_copyright                     : latest=0.17.1, local=0.17.1
rosidl_core_generators                    : latest=0.2.0, local=0.2.0
rosidl_parser                             : latest=4.6.4, local=4.6.4
intra_process_demo                        : latest=0.33.5, local=0.33.5
rosbag2_cpp                               : latest=0.26.5, local=0.26.5
rviz2                                     : latest=14.1.5, local=14.1.5
ament_cmake_core                          : latest=2.5.2, local=2.5.2
lifecycle_msgs                            : latest=2.0.2, local=2.0.2
visualization_msgs                        : latest=5.3.5, local=5.3.5
quality_of_service_demo_cpp               : latest=0.33.5, local=0.33.5
rcpputils                                 : latest=2.11.0, local=2.11.0
zstd_vendor                               : latest=0.26.5, local=0.26.5
ros_core                                  : latest=0.11.0, local=0.11.0
rosidl_typesupport_fastrtps_c             : latest=3.6.0, local=3.6.0
composition                               : latest=0.33.5, local=0.33.5
python_qt_binding                         : latest=2.2.1, local=2.2.1
rqt_msg                                   : latest=1.5.1, local=1.5.1
ament_cmake_export_definitions            : latest=2.5.2, local=2.5.2
ros2launch                                : latest=0.26.5, local=0.26.5
launch_testing_ament_cmake                : latest=3.4.2, local=3.4.2
rqt_action                                : latest=2.2.0, local=2.2.0
actionlib_msgs                            : latest=5.3.5, local=5.3.5
examples_rclcpp_minimal_action_client     : latest=0.19.4, local=0.19.4
domain_coordinator                        : latest=0.12.0, local=0.12.0
rqt_service_caller                        : latest=1.2.1, local=1.2.1
action_tutorials_py                       : latest=0.33.5, local=0.33.5
ament_cmake                               : latest=2.5.2, local=2.5.2
rosbag2_transport                         : latest=0.26.5, local=0.26.5
depthimage_to_laserscan                   : latest=2.5.1, local=2.5.1
tf2_eigen_kdl                             : latest=0.36.4, local=0.36.4
mcap_vendor                               : latest=0.26.5, local=0.26.5
robot_state_publisher                     : latest=3.3.3, local=3.3.3
examples_rclcpp_minimal_publisher         : latest=0.19.4, local=0.19.4
ros2interface                             : latest=0.32.1, local=0.32.1
rqt_reconfigure                           : latest=1.6.2, local=1.6.2
examples_rclpy_minimal_action_client      : latest=0.19.4, local=0.19.4
tinyxml2_vendor                           : latest=0.9.1, local=0.9.1
keyboard_handler                          : latest=0.3.1, local=0.3.1
dummy_robot_bringup                       : latest=0.33.5, local=0.33.5
examples_rclcpp_minimal_client            : latest=0.19.4, local=0.19.4
ament_flake8                              : latest=0.17.1, local=0.17.1
libstatistics_collector                   : latest=1.7.3, local=1.7.3
gz_math_vendor                            : latest=0.0.6, local=0.0.6
sensor_msgs_py                            : latest=5.3.5, local=5.3.5
tlsf                                      : latest=0.9.0, local=0.9.0
launch_testing_ros                        : latest=0.26.5, local=0.26.5
ament_cmake_export_libraries              : latest=2.5.2, local=2.5.2
rosidl_default_generators                 : latest=1.6.0, local=1.6.0
osrf_pycommon                             : latest=2.1.4, local=2.1.4
rosidl_core_runtime                       : latest=0.2.0, local=0.2.0
pcl_conversions                           : latest=2.6.1, local=2.6.1
rviz_default_plugins                      : latest=14.1.5, local=14.1.5
console_bridge_vendor                     : latest=1.7.1, local=1.7.1
ros2param                                 : latest=0.32.1, local=0.32.1
rclcpp_action                             : latest=28.1.5, local=28.1.5
gz_utils_vendor                           : latest=0.0.4, local=0.0.4
rosidl_cmake                              : latest=4.6.4, local=4.6.4
nav_msgs                                  : latest=5.3.5, local=5.3.5
rqt_bag_plugins                           : latest=1.5.4, local=1.5.4
rqt_gui_py                                : latest=1.6.0, local=1.6.0
ros2bag                                   : latest=0.26.5, local=0.26.5
sros2                                     : latest=0.13.2, local=0.13.2
rqt_gui                                   : latest=1.6.0, local=1.6.0
ament_copyright                           : latest=0.17.1, local=0.17.1
examples_rclpy_minimal_subscriber         : latest=0.19.4, local=0.19.4
spdlog_vendor                             : latest=1.6.1, local=1.6.1
rosidl_generator_py                       : latest=0.22.0, local=0.22.0
qt_gui                                    : latest=2.7.4, local=2.7.4
pybind11_vendor                           : latest=3.1.2, local=3.1.2
rosidl_typesupport_fastrtps_cpp           : latest=3.6.0, local=3.6.0
rviz_ogre_vendor                          : latest=14.1.5, local=14.1.5
ros2cli                                   : latest=0.32.1, local=0.32.1
geometry2                                 : latest=0.36.4, local=0.36.4
ament_cmake_test                          : latest=2.5.2, local=2.5.2
image_geometry                            : latest=4.1.0, local=4.1.0
unique_identifier_msgs                    : latest=2.5.0, local=2.5.0
rmw_fastrtps_cpp                          : latest=8.4.1, local=8.4.1
tf2_ros_py                                : latest=0.36.4, local=0.36.4
rcl_yaml_param_parser                     : latest=9.2.4, local=9.2.4
rqt_py_console                            : latest=1.2.2, local=1.2.2
rmw_cyclonedds_cpp                        : latest=2.2.2, local=2.2.2
tf2_py                                    : latest=0.36.4, local=0.36.4
common_interfaces                         : latest=5.3.5, local=5.3.5
rviz_assimp_vendor                        : latest=14.1.5, local=14.1.5
ros2doctor                                : latest=0.32.1, local=0.32.1
ament_cmake_cppcheck                      : latest=0.17.1, local=0.17.1
stereo_msgs                               : latest=5.3.5, local=5.3.5
tlsf_cpp                                  : latest=0.17.0, local=0.17.0
rosidl_typesupport_interface              : latest=4.6.4, local=4.6.4
ros2lifecycle                             : latest=0.32.1, local=0.32.1
rviz_rendering                            : latest=14.1.5, local=14.1.5
ros2service                               : latest=0.32.1, local=0.32.1
ament_cmake_gen_version_h                 : latest=2.5.2, local=2.5.2
rmw_fastrtps_shared_cpp                   : latest=8.4.1, local=8.4.1
fastrtps_cmake_module                     : latest=3.6.0, local=3.6.0
ament_cmake_flake8                        : latest=0.17.1, local=0.17.1
geometry_msgs                             : latest=5.3.5, local=5.3.5
interactive_markers                       : latest=2.5.4, local=2.5.4
ros_workspace                             : latest=1.0.3, local=1.0.3
ament_cmake_include_directories           : latest=2.5.2, local=2.5.2
rqt_plot                                  : latest=1.4.0, local=1.4.0
rmw_implementation_cmake                  : latest=7.3.1, local=7.3.1
ros2run                                   : latest=0.32.1, local=0.32.1
rosbag2_compression                       : latest=0.26.5, local=0.26.5
rclcpp_components                         : latest=28.1.5, local=28.1.5
ament_cmake_export_include_directories    : latest=2.5.2, local=2.5.2
rmw                                       : latest=7.3.1, local=7.3.1
std_srvs                                  : latest=5.3.5, local=5.3.5
rosidl_dynamic_typesupport_fastrtps       : latest=0.1.0, local=0.1.0
laser_geometry                            : latest=2.7.0, local=2.7.0
rosidl_generator_cpp                      : latest=4.6.4, local=4.6.4
examples_rclcpp_minimal_composition       : latest=0.19.4, local=0.19.4
demo_nodes_cpp_native                     : latest=0.33.5, local=0.33.5
tf2_geometry_msgs                         : latest=0.36.4, local=0.36.4
rcl                                       : latest=9.2.4, local=9.2.4
rclcpp                                    : latest=28.1.5, local=28.1.5
sqlite3_vendor                            : latest=0.26.5, local=0.26.5
sdl2_vendor                               : latest=3.3.0, local=3.3.0
pluginlib                                 : latest=5.4.2, local=5.4.2
rosgraph_msgs                             : latest=2.0.2, local=2.0.2
cv_bridge                                 : latest=4.1.0, local=4.1.0
libcurl_vendor                            : latest=3.4.3, local=3.4.3
kdl_parser                                : latest=2.11.0, local=2.11.0
rcl_logging_spdlog                        : latest=3.1.0, local=3.1.0
examples_rclpy_minimal_service            : latest=0.19.4, local=0.19.4
rosidl_runtime_py                         : latest=0.13.1, local=0.13.1
image_transport                           : latest=5.1.4, local=5.1.4
ament_cmake_export_link_flags             : latest=2.5.2, local=2.5.2
rcl_interfaces                            : latest=2.0.2, local=2.0.2
rosbag2_compression_zstd                  : latest=0.26.5, local=0.26.5
rmw_implementation                        : latest=2.15.3, local=2.15.3
rosbag2_storage_sqlite3                   : latest=0.26.5, local=0.26.5
ament_cmake_gmock                         : latest=2.5.2, local=2.5.2
launch                                    : latest=3.4.2, local=3.4.2
rosbag2_interfaces                        : latest=0.26.5, local=0.26.5
message_filters                           : latest=4.11.2, local=4.11.2
ament_cmake_xmllint                       : latest=0.17.1, local=0.17.1
rqt_publisher                             : latest=1.7.2, local=1.7.2
urdf_parser_plugin                        : latest=2.10.0, local=2.10.0
rosidl_typesupport_introspection_cpp      : latest=4.6.4, local=4.6.4
examples_rclpy_minimal_action_server      : latest=0.19.4, local=0.19.4
rosidl_typesupport_cpp                    : latest=3.2.2, local=3.2.2
examples_rclpy_executors                  : latest=0.19.4, local=0.19.4
rcl_action                                : latest=9.2.4, local=9.2.4
ament_index_python                        : latest=1.8.1, local=1.8.1
examples_rclpy_minimal_publisher          : latest=0.19.4, local=0.19.4
ros2cli_common_extensions                 : latest=0.3.0, local=0.3.0
launch_xml                                : latest=3.4.2, local=3.4.2
rqt_topic                                 : latest=1.7.2, local=1.7.2
ros2pkg                                   : latest=0.32.1, local=0.32.1
ament_cpplint                             : latest=0.17.1, local=0.17.1
examples_rclcpp_minimal_timer             : latest=0.19.4, local=0.19.4
rqt_common_plugins                        : latest=1.2.0, local=1.2.0
tango_icons_vendor                        : latest=0.3.0, local=0.3.0
teleop_twist_joy                          : latest=2.6.2, local=2.6.2
ament_lint_common                         : latest=0.17.1, local=0.17.1
ament_cmake_auto                          : latest=2.5.2, local=2.5.2
yaml_cpp_vendor                           : latest=9.0.0, local=9.0.0
rosidl_pycommon                           : latest=4.6.4, local=4.6.4
rosidl_cli                                : latest=4.6.4, local=4.6.4
class_loader                              : latest=2.7.0, local=2.7.0
ament_lint_cmake                          : latest=0.17.1, local=0.17.1
tf2_tools                                 : latest=0.36.4, local=0.36.4
action_tutorials_cpp                      : latest=0.33.5, local=0.33.5
rqt_shell                                 : latest=1.2.2, local=1.2.2
rqt_graph                                 : latest=1.5.4, local=1.5.4
ament_lint                                : latest=0.17.1, local=0.17.1
liblz4_vendor                             : latest=0.26.5, local=0.26.5
type_description_interfaces               : latest=2.0.2, local=2.0.2
ament_pep257                              : latest=0.17.1, local=0.17.1
ament_cmake_pytest                        : latest=2.5.2, local=2.5.2
examples_rclcpp_minimal_action_server     : latest=0.19.4, local=0.19.4
tf2_msgs                                  : latest=0.36.4, local=0.36.4
angles                                    : latest=1.16.0, local=1.16.0
point_cloud_transport                     : latest=4.0.2, local=4.0.2
tf2_kdl                                   : latest=0.36.4, local=0.36.4
launch_ros                                : latest=0.26.5, local=0.26.5
ros2component                             : latest=0.32.1, local=0.32.1
rosbag2                                   : latest=0.26.5, local=0.26.5
rosidl_generator_type_description         : latest=4.6.4, local=4.6.4
builtin_interfaces                        : latest=2.0.2, local=2.0.2
rclpy                                     : latest=7.1.2, local=7.1.2
rcl_lifecycle                             : latest=9.2.4, local=9.2.4
rclcpp_lifecycle                          : latest=28.1.5, local=28.1.5
qt_dotgraph                               : latest=2.7.4, local=2.7.4
sros2_cmake                               : latest=0.13.2, local=0.13.2
ament_cmake_libraries                     : latest=2.5.2, local=2.5.2
ament_package                             : latest=0.16.3, local=0.16.3
libyaml_vendor                            : latest=1.6.3, local=1.6.3
examples_rclpy_minimal_client             : latest=0.19.4, local=0.19.4
tracetools                                : latest=8.2.2, local=8.2.2
rosidl_runtime_c                          : latest=4.6.4, local=4.6.4
ros2node                                  : latest=0.32.1, local=0.32.1
rosidl_dynamic_typesupport                : latest=0.1.2, local=0.1.2
shape_msgs                                : latest=5.3.5, local=5.3.5
examples_rclcpp_multithreaded_executor    : latest=0.19.4, local=0.19.4
resource_retriever                        : latest=3.4.3, local=3.4.3
ament_cmake_version                       : latest=2.5.2, local=2.5.2
qt_gui_cpp                                : latest=2.7.4, local=2.7.4
rosidl_default_runtime                    : latest=1.6.0, local=1.6.0
ros2multicast                             : latest=0.32.1, local=0.32.1
tf2_bullet                                : latest=0.36.4, local=0.36.4
rosidl_runtime_cpp                        : latest=4.6.4, local=4.6.4
launch_testing                            : latest=3.4.2, local=3.4.2
joy                                       : latest=3.3.0, local=3.3.0
map_msgs                                  : latest=2.4.1, local=2.4.1
ros2topic                                 : latest=0.32.1, local=0.32.1
eigen3_cmake_module                       : latest=0.3.0, local=0.3.0
examples_rclcpp_minimal_subscriber        : latest=0.19.4, local=0.19.4
ament_cmake_ros                           : latest=0.12.0, local=0.12.0
logging_demo                              : latest=0.33.5, local=0.33.5
rosbag2_storage                           : latest=0.26.5, local=0.26.5
rqt_image_view                            : latest=1.3.0, local=1.3.0
rosbag2_py                                : latest=0.26.5, local=0.26.5
rosbag2_storage_default_plugins           : latest=0.26.5, local=0.26.5
service_msgs                              : latest=2.0.2, local=2.0.2
ament_cppcheck                            : latest=0.17.1, local=0.17.1
ament_cmake_gtest                         : latest=2.5.2, local=2.5.2
sensor_msgs                               : latest=5.3.5, local=5.3.5
ament_xmllint                             : latest=0.17.1, local=0.17.1
ament_cmake_uncrustify                    : latest=0.17.1, local=0.17.1
trajectory_msgs                           : latest=5.3.5, local=5.3.5
rqt_srv                                   : latest=1.2.2, local=1.2.2
action_tutorials_interfaces               : latest=0.33.5, local=0.33.5
gz_cmake_vendor                           : latest=0.0.8, local=0.0.8
uncrustify_vendor                         : latest=3.0.0, local=3.0.0
rqt_console                               : latest=2.2.1, local=2.2.1
orocos_kdl_vendor                         : latest=0.5.1, local=0.5.1
pendulum_msgs                             : latest=0.33.5, local=0.33.5
dummy_map_server                          : latest=0.33.5, local=0.33.5
action_msgs                               : latest=2.0.2, local=2.0.2
tf2_ros                                   : latest=0.36.4, local=0.36.4
nav2_simple_commander                     : latest=1.3.2, local=1.3.2
ros_gz_sim                                : latest=1.0.5, local=1.0.5
gz_dartsim_vendor                         : latest=0.0.2, local=0.0.2
force_torque_sensor_broadcaster           : latest=4.15.0, local=4.15.0
xacro                                     : latest=2.0.11, local=2.0.11
bicycle_steering_controller               : latest=4.15.0, local=4.15.0
nav2_constrained_smoother                 : latest=1.3.2, local=1.3.2
ros_gz_bridge                             : latest=1.0.5, local=1.0.5
nav2_smoother                             : latest=1.3.2, local=1.3.2
nav2_behavior_tree                        : latest=1.3.2, local=1.3.2
nav2_smac_planner                         : latest=1.3.2, local=1.3.2
nav2_lifecycle_manager                    : latest=1.3.2, local=1.3.2
steering_controllers_library              : latest=4.15.0, local=4.15.0
ackermann_steering_controller             : latest=4.15.0, local=4.15.0
diff_drive_controller                     : latest=4.15.0, local=4.15.0
generate_parameter_library                : latest=0.3.8, local=0.3.8
controller_interface                      : latest=4.18.0, local=4.18.0
nav2_minimal_tb4_description              : latest=1.0.1, local=1.0.1
nav2_velocity_smoother                    : latest=1.3.2, local=1.3.2
nav2_minimal_tb4_sim                      : latest=1.0.1, local=1.0.1
control_msgs                              : latest=5.2.0, local=5.2.0
joint_state_broadcaster                   : latest=4.15.0, local=4.15.0
generate_parameter_library_py             : latest=0.3.8, local=0.3.8
nav2_bringup                              : latest=1.3.2, local=1.3.2
gz_common_vendor                          : latest=0.0.5, local=0.0.5
compressed_image_transport                : latest=4.0.2, local=4.0.2
ros_gz_sim_demos                          : latest=1.0.5, local=1.0.5
effort_controllers                        : latest=4.15.0, local=4.15.0
ros2_control_test_assets                  : latest=4.18.0, local=4.18.0
nav2_controller                           : latest=1.3.2, local=1.3.2
joint_trajectory_controller               : latest=4.15.0, local=4.15.0
ros2controlcli                            : latest=4.18.0, local=4.18.0
ros2_controllers                          : latest=4.15.0, local=4.15.0
hardware_interface                        : latest=4.18.0, local=4.18.0
slam_toolbox                              : latest=2.8.1, local=2.8.1
nav2_mppi_controller                      : latest=1.3.2, local=1.3.2
controller_manager                        : latest=4.18.0, local=4.18.0
topic_tools                               : latest=1.3.2, local=1.3.2
zstd_image_transport                      : latest=4.0.2, local=4.0.2
sdformat_urdf                             : latest=1.0.2, local=1.0.2
navigation2                               : latest=1.3.2, local=1.3.2
opennav_docking_core                      : latest=1.3.2, local=1.3.2
gz_fuel_tools_vendor                      : latest=0.0.5, local=0.0.5
imu_sensor_broadcaster                    : latest=4.15.0, local=4.15.0
joint_state_publisher                     : latest=2.4.0, local=2.4.0
gz_sim_vendor                             : latest=0.0.5, local=0.0.5
nav2_util                                 : latest=1.3.2, local=1.3.2
vision_msgs                               : latest=4.1.1, local=4.1.1
ros_gz_image                              : latest=1.0.5, local=1.0.5
nav2_costmap_2d                           : latest=1.3.2, local=1.3.2
parameter_traits                          : latest=0.3.8, local=0.3.8
nav2_bt_navigator                         : latest=1.3.2, local=1.3.2
ros_gz                                    : latest=1.0.5, local=1.0.5
nav2_collision_monitor                    : latest=1.3.2, local=1.3.2
nav2_map_server                           : latest=1.3.2, local=1.3.2
nav2_graceful_controller                  : latest=1.3.2, local=1.3.2
nav2_rotation_shim_controller             : latest=1.3.2, local=1.3.2
velocity_controllers                      : latest=4.15.0, local=4.15.0
topic_tools_interfaces                    : latest=1.3.2, local=1.3.2
position_controllers                      : latest=4.15.0, local=4.15.0
tricycle_steering_controller              : latest=4.15.0, local=4.15.0
sdformat_vendor                           : latest=0.0.6, local=0.0.6
nav2_planner                              : latest=1.3.2, local=1.3.2
nav2_dwb_controller                       : latest=1.3.2, local=1.3.2
gz_ogre_next_vendor                       : latest=0.0.5, local=0.0.5
ros2_control                              : latest=4.18.0, local=4.18.0
gz_gui_vendor                             : latest=0.0.4, local=0.0.4
opennav_docking                           : latest=1.3.2, local=1.3.2
nav2_regulated_pure_pursuit_controller    : latest=1.3.2, local=1.3.2
behaviortree_cpp                          : latest=4.6.2, local=4.6.2
robot_localization                        : latest=3.8.1, local=3.8.1
kinematics_interface                      : latest=1.1.0, local=1.1.0
ackermann_msgs                            : latest=2.0.2, local=2.0.2
dwb_core                                  : latest=1.3.2, local=1.3.2
ros_gz_interfaces                         : latest=1.0.5, local=1.0.5
gz_sensors_vendor                         : latest=0.0.4, local=0.0.4
nav_2d_utils                              : latest=1.3.2, local=1.3.2
compressed_depth_image_transport          : latest=4.0.2, local=4.0.2
pid_controller                            : latest=4.15.0, local=4.15.0
nav2_behaviors                            : latest=1.3.2, local=1.3.2
nav2_navfn_planner                        : latest=1.3.2, local=1.3.2
ompl                                      : latest=1.6.0, local=1.6.0
nav2_amcl                                 : latest=1.3.2, local=1.3.2
realtime_tools                            : latest=2.6.0, local=2.6.0
actuator_msgs                             : latest=0.0.1, local=0.0.1
nav_2d_msgs                               : latest=1.3.2, local=1.3.2
control_toolbox                           : latest=3.2.0, local=3.2.0
geographic_msgs                           : latest=1.0.6, local=1.0.6
nav2_common                               : latest=1.3.2, local=1.3.2
gz_msgs_vendor                            : latest=0.0.4, local=0.0.4
tcb_span                                  : latest=1.0.2, local=1.0.2
admittance_controller                     : latest=4.15.0, local=4.15.0
controller_manager_msgs                   : latest=4.18.0, local=4.18.0
tl_expected                               : latest=1.0.2, local=1.0.2
filters                                   : latest=2.1.2, local=2.1.2
gz_ros2_control                           : latest=1.2.7, local=1.2.7
nav2_rviz_plugins                         : latest=1.3.2, local=1.3.2
bond                                      : latest=4.1.0, local=4.1.0
transmission_interface                    : latest=4.18.0, local=4.18.0
theora_image_transport                    : latest=4.0.2, local=4.0.2
gz_rendering_vendor                       : latest=0.0.4, local=0.0.4
costmap_queue                             : latest=1.3.2, local=1.3.2
joint_limits                              : latest=4.18.0, local=4.18.0
forward_command_controller                : latest=4.15.0, local=4.15.0
nav2_theta_star_planner                   : latest=1.3.2, local=1.3.2
dwb_plugins                               : latest=1.3.2, local=1.3.2
diagnostic_updater                        : latest=4.2.1, local=4.2.1
gz_plugin_vendor                          : latest=0.0.4, local=0.0.4
smclib                                    : latest=4.1.0, local=4.1.0
nav2_waypoint_follower                    : latest=1.3.2, local=1.3.2
bondcpp                                   : latest=4.1.0, local=4.1.0
range_sensor_broadcaster                  : latest=4.15.0, local=4.15.0
gz_tools_vendor                           : latest=0.0.4, local=0.0.4
gz_physics_vendor                         : latest=0.0.4, local=0.0.4
nav2_voxel_grid                           : latest=1.3.2, local=1.3.2
gps_msgs                                  : latest=2.0.4, local=2.0.4
nav2_msgs                                 : latest=1.3.2, local=1.3.2
dwb_msgs                                  : latest=1.3.2, local=1.3.2
nav2_minimal_tb3_sim                      : latest=1.0.1, local=1.0.1
image_transport_plugins                   : latest=4.0.2, local=4.0.2
gz_transport_vendor                       : latest=0.0.5, local=0.0.5
nav2_core                                 : latest=1.3.2, local=1.3.2
dwb_critics                               : latest=1.3.2, local=1.3.2
tricycle_controller                       : latest=4.15.0, local=4.15.0
opennav_docking_bt                        : latest=1.3.2, local=1.3.2

Summary

I tried to port from Gazebo Classic to Gazebo Harmonic. But, it occurs strange behavior.
In Gazebo Classic, there is no problem.

Description

Description A

• Expected behavior: Drift does not occur when the robot did pure rotation during SLAM(slam toolbox)
  • When I used Gazebo Classic, I got this result.
  • Please read Supplemental information.
• Actual behavior: Drift occurs when the robot did pure rotation during SLAM(slam toolbox)

Description B

• Expected behavior: When the robot stops, the frame also stops.
• Actual behavior: When the robot stops, the frame moves.

Screencast.from.2024-10-27.22-14-02.webm

Steps to reproduce

Step A

mkdir -p ~/dev_ws/src
cd ~/dev_ws/src
git clone https://github.com/atinfinity/megarover_samples_ros2.git -b prepare-jazzy
cd ..
rosdep install -y -i --from-paths src/megarover_samples_ros2
colcon build --symlink-install
source ~/dev_ws/install/setup.bash
ros2 launch megarover_samples_ros2 vmegarover_with_sample_world.launch.py
ros2 launch megarover_samples_ros2 vmegarover_mapping.launch.py
ros2 run teleop_twist_keyboard teleop_twist_keyboard

type l key

Step B

mkdir -p ~/dev_ws/src
cd ~/dev_ws/src
git clone https://github.com/atinfinity/megarover_samples_ros2.git -b prepare-jazzy
cd ..
rosdep install -y -i --from-paths src/megarover_samples_ros2
colcon build --symlink-install
source ~/dev_ws/install/setup.bash
ros2 launch megarover_samples_ros2 vmegarover_with_sample_world.launch.py
ros2 run teleop_twist_keyboard teleop_twist_keyboard

type l key
type k key

Supplemental information

On the other hands, there is no problem in ROS 2 Humble with Gazebo Classic.

mkdir -p ~/dev_ws/src
cd ~/dev_ws/src
git clone https://github.com/atinfinity/megarover_samples_ros2.git -b humble
cd ..
rosdep install -y -i --from-paths src/megarover_samples_ros2
colcon build --symlink-install
source ~/dev_ws/install/setup.bash
ros2 launch megarover_samples_ros2 vmegarover_with_sample_world.launch.py
ros2 launch megarover_samples_ros2 vmegarover_mapping.launch.py
ros2 run teleop_twist_keyboard teleop_twist_keyboard

type l key

[azeey]

It looks like you have multiple sources of input for the robot publisher. From a quick look at your project, I see you have joint_state_publisher. Are you sure you need that? Can you check if there are multiple publishers to /joint_states?

[atinfinity]

@azeey Thank you for your reply.

Can you check if there are multiple publishers to /joint_states?

I checked it.

$ ros2 launch megarover_samples_ros2 vmegarover_with_sample_world.launch.py

$ ros2 topic info /joint_states -v
Type: sensor_msgs/msg/JointState

Publisher count: 2

Node name: base_topic_bridge
Node namespace: /
Topic type: sensor_msgs/msg/JointState
Topic type hash: RIHS01_a13ee3a330e346c9d87b5aa18d24e11690752bd33a0350f11c5882bc9179260e
Endpoint type: PUBLISHER
GID: 01.10.78.b8.94.49.71.06.2e.5d.b9.ef.00.00.1a.03
QoS profile:
  Reliability: RELIABLE
  History (Depth): KEEP_LAST (10)
  Durability: VOLATILE
  Lifespan: Infinite
  Deadline: Infinite
  Liveliness: AUTOMATIC
  Liveliness lease duration: Infinite

Node name: joint_state_publisher
Node namespace: /
Topic type: sensor_msgs/msg/JointState
Topic type hash: RIHS01_a13ee3a330e346c9d87b5aa18d24e11690752bd33a0350f11c5882bc9179260e
Endpoint type: PUBLISHER
GID: 01.10.93.65.33.ea.ef.e4.fb.19.73.bc.00.00.18.03
QoS profile:
  Reliability: RELIABLE
  History (Depth): KEEP_LAST (10)
  Durability: VOLATILE
  Lifespan: Infinite
  Deadline: Infinite
  Liveliness: AUTOMATIC
  Liveliness lease duration: Infinite

So, I stopped to launch unnecessary "joint_state_publisher" node.
But, this problem was not resolved.