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This normally happens when one (or more) of the displayed messages do not have timestamp information (for example geometry_msgs/Twist). AFAIK, when playing back timestamped messages, things should work synchronized. What you describe sounds either like a bug in rqt_plot or not correctly specified timestamps in your messages.

This normally happens when one (or more) of the displayed messages do not have timestamp information (for example geometry_msgs/Twist). AFAIK, when playing back timestamped messages, things should work synchronized. What you describe sounds either like a bug in rqt_plot or not correctly specified timestamps in your messages.

/edit: Good point with sim time. Be sure to properly set use_sim_time: Start a core:

roscore

Set use_sim_time:

rosparam set use_sim_time true

Start whatever nodes you need and play bagfile using --clock:

rosbag play YOUR_BAG_FILE --clock

Note you should not start nodes before the use_sim_time parameter is set, because those would then use normal ROS time, which results in all sorts of weird behavior.