Laser scanner oscilating for some reason

Original report (archived issue) by Eugen Funk (Bitbucket: Eugen Funk).

The original report had attachments: screencast_gazebo_error.mkv

I am observing very strange behaviour of the simulated laser scanner in gazebo. https://ibb.co/cN0vpz

Is it because of wrong inertial settins in the URDF?
Can this result from incorrect URDF links?

See the link above or the attached video for details.

This is the URDF/xacro definition of the laser:

#!xml

<gazebo reference="base_laser_link">
    <material>Gazebo/DarkGrey</material>
    <sensor type="ray" name="lds_lfcd_sensor">
      <pose>0 0 0 0 0 0</pose>
      <visualize>false</visualize>
      <update_rate>25</update_rate>
      <ray>
        <scan>
          <horizontal>
            <samples>560</samples>
            <resolution>1</resolution>
            <min_angle>-1.570796</min_angle>
            <max_angle>1.570796</max_angle>
          </horizontal>
        </scan>
        <range>
          <min>0.0120</min>
          <max>30.5</max>
          <resolution>0.015</resolution>
        </range>
        <noise>
          <type>gaussian</type>
          <mean>0.0</mean>
          <stddev>0.01</stddev>
        </noise>
      </ray>
      <plugin name="gazebo_ros_lds_lfcd_controller" filename="libgazebo_ros_laser.so">
        <topicName>scan</topicName>
        <frameName>base_laser_link</frameName>
      </plugin>
    </sensor>
  </gazebo>

gazebosim / gazebo-classic

Laser scanner oscilating for some reason #2529