Weird behavior for Turtlebot 4 in Visual SLAM environment

What I am trying to do is to swap the default robot with Turtlebot 4 in the demo for Visual SLAM (Tutorial for Visual SLAM with Isaac Sim — isaac_ros_docs documentation). However, I noticed that the turtlebot 4 will keep slightly shaking after turning on the simulator. It won’t happen if I load Turtlebot 4 and create a ground plane and physcis scene (the simplest scene), which means the issue doesn’t come from the robot model. I wonder how I should address this issue. Any hints are appreciated!

hi @xrn94621 , can you please provide more details for the issue? Is this a problem with the VSLAM or with the simulation of the TurtleBot4?