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I did not check in depth but:
The odom information is publish by the GazeboDifferentialDrive Plugin (see http://gazebosim.org/tutorials?tut=ros_gzplugins#DifferentialDrive) the Plugin allows you to chose between WORLD and ENCODER source (set via <odometrySource>.
See e.g. https://github.com/ros-simulation/gazebo_ros_pkgs/blob/7bf18c7ad727e0d5f3c80c4dee01fc1429c16093/gazebo_plugins/src/gazebo_ros_diff_drive.cpp#L89-L97
Set to the default WORLD source the Plugin uses the internal information from Gazebo. Thus if you jump the information is immediately available to the plugin resulting in the shown effect.
To get more realism into the simulation try switching to the ENCODER source. Scanning the plugin code this seems to require a defined joint for both the left and right wheel but maybe this is already set in your model.
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