My robot moves faster in RViz than in Gazebo. I'm using diffdrivecontroller to make my robot move in Gazebo. I noticed that the robot rotates and moves faster in RViz. I checked it by placing a camera in my robot urdf and placing a blue cube in Gazebo in front of the robot. Then on rotating the robot, the RViz image output shows the blue cube when the robot is at a different z-orientation compared to its previous z-orientation wherein the blue cube was visible.

You can download my package from here and run the following command:

roslaunch rosbotsdescription gazebonrvizvisualize.launch

Then you can place the blue cube in Gazebo by running this command:

rosrun gazeboros spawnmodel -file /home/hashim/catkinws/src/rosbotsdescription/urdf/object.urdf -urdf -x 1 -y 0 -z 1 -model my_object

Then publish velocity commands on the topic rosbots/mobilebasecontroller/cmd_vel using this gui:

rosrun rqtrobotsteering rqtrobotsteering

I researched quite a lot on google but could not find an answer. Thanks!