Noise and deviations in sensors(velocity) from wheel

I have a very strange behavior of velocity sensors from wheels in isaac sim. I have this one on the all robots. When I push command with some linear velocity and listen to ros topic /joint_states, via rostopic echo, i have a lot of noise and deviations. For example this is picture:

linear velocity = -10.


image

linear velocity = 3.14


image

I don’t understand: this is typical noise from sensor or my mistakes in env setup, or something else?

Hello, @thedesperatemaker , welcome to the Dev forum!

Would you be able to share your test script so we can take a look at how things are behaving, so we can better advise you, or properly document the bug with a repro step if there is one?