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I have occasionally seen issues like this before. Most of the time, it happens because sensor data is coming over a network, and the network connection is interrupted for a few seconds, usually due to a loose cable.

This could also happen because something adjusted your system clock ahead in time by two seconds.

Time adjustments are logged to /var/log/syslog , and so are local network events.

I have yet to see a case where this was a "ROS problem". Topic setup is mediated by the ROS master, but topic data is carried peer-to-peer between ROS nodes, so there isn't a central point in ROS that can cause a data disruption like this.