RGB-D Map displacement

[DalderupMaurice]

Hi

I am trying to map an environment in the gazebo simulator using the Kinect, but everytime it starts to create a displaced map after some time.

My steps:
Step 1: launching gazebo with the erle copter drone wich has a kinect attached
Step 2: launch RGB-D SLAM
roslaunch rgbdslam openni+rgbdslam.launch
Step 3: wait 30sec - 1 minute

result (without even moving): http://imgur.com/a/jzbxM

as you can see at the top of the RGB-D SLAM viewer, it made a completely distorted mesh, without even moving. Does anyone have a clue what goes wrong?

I have tried this using different launch files, using different models (Rover + Kinect, Turtlebot + Kinect, Erle copter + Kinect) but none of them worked and gave the same results.

My setup:
Ubuntu 14.04
ROS Indigo

Little note*
Using the real kinect (v2) with the iai_kinect2 bridge for libfreenect2, it does create a decent mapping without the displacement. I assume there is an error in the simulator.