[Gazebo] laserscans drift away without movement

[relffok]

From time to time the laserscans drift towards the robot in a weird manner, even if robot is not moving.
only in gazebo!

more information following

[relffok]

this is caused by the robot tilting, inertia / weights / simulated properties must be checked

[mintar]

Wow, good find! I was also looking at the same issue right now.

For reference, here's a video of what's happening:

mir_ros2_laser_scans.mp4

[mintar]

I think this fixes it:

git cherry-pick 063d4e7

In noetic, the collision meshes for the wheels were replaced by cylinders. This solves lots of problems like this.

[relffok]

Nice, this helps indeed! Will pull this right away.