RViz flickering effect when playing rosbag gives TF_OLD_DATA ignoring data from the past. Detected jump back in time clearing TF buffer

edit

I built a simulation of a boat approaching a deck in Gazebo and show the results on RViz. The simulation is useful to replicate probable filed conditions. Right after making sure the simulation works, I went on field and collected point using a lidar VLP-16.

After switching the simulated environment with the rosbag I collected on field, RViz is showing a very strange flickering effect. In case you want to see the RViz flickering effect I made a small video here you can click and see.

I playes the bag using the following command:

rosbag play --clock wood1_test4.bag /velodyne_points:=/velodyne_points_bag

This is my launch file:

<?xml version="1.0" ?>
<launch>
  <arg name="paused" default="false"/>
  <arg name="use_sim_time" default="true"/>
  <arg name="gui" default="true"/>
  <arg name="headless" default="false"/>
  <arg name="debug" default="false"/>
  <arg name="verbose" default="false"/>
  <arg name="world_name" default="$(find lidar_deck)/world/lidar_deck.world"/>

  <!-- Start gazebo and load the world -->
  <include file="$(find gazebo_ros)/launch/empty_world.launch" >
    <arg name="paused" value="$(arg paused)"/>
    <arg name="use_sim_time" value="$(arg use_sim_time)"/>
    <arg name="gui" value="$(arg gui)"/>
    <arg name="headless" value="$(arg headless)"/>
    <arg name="debug" value="$(arg debug)"/>
    <arg name="verbose" value="$(arg verbose)"/>
    <arg name="world_name" value="$(arg world_name)"/>
  </include>


  <!-- Spawn the lidar_deck_bot robot -->
  <arg name="gpu" default="false"/>
  <include file="$(find lidar_deck)/launch/boat.launch"/> 

  <!-- TEST DECK ONLY -->
  <param name="robot_description" command="$(find xacro)/xacro '$(find lidar_deck)/urdf/lidar_deck_bot.urdf.xacro' gpu:=$(arg gpu)" />
  <node pkg="gazebo_ros" type="spawn_model" name="spawn_model" args="-urdf -param /robot_description -model lidar_deck_bot"/>
  <node pkg="robot_state_publisher" type="robot_state_publisher" name="robot_state_publisher">
    <param name="publish_frequency" type="double" value="30.0" />
  </node>

  <!-- TEST BOAT ONLY -->
  <!-- 
  <param name="robot_description" command="$(find xacro)/xacro '$(find lidar_deck)/urdf/boat_robot.xacro' gpu:=$(arg gpu)" />
  <node pkg="gazebo_ros" type="spawn_model" name="spawn_model" args="-urdf -param /robot_description -model boat_robot"/>
  <node pkg="robot_state_publisher" type="robot_state_publisher" name="robot_state_publisher">
    <param name="publish_frequency" type="double" value="30.0" />
  </node>
  -->

  <!-- LAUNCH DECK AND BOAT -->
  <!-- <include file="$(find lidar_deck)/launch/deck.launch"/> -->


  <node pkg="tf" type="static_transform_publisher" name="segment_frame" args="0 0 0 0 0 0 1 base_footprint segment_frame 10"/>

  <node pkg="tf" type="static_transform_publisher" name="odom" args="0 0 0 0 0 0 1 base_footprint odom 10"/>
  <param name ="/use_sim_time" value="true"/>

  <node pkg="lidar_boat_detection" type="process_lidar" name="process_lidar" />
  <node pkg="lidar_boat_detection" type="trajectory_preprocessor_node" name="trajectory_preprocessor_node" />
  <node pkg="lidar_boat_detection" type="linedrawing" name="linedrawing" />

  <!-- RViz -->
  <arg name="rviz" default="true"/>
<!--  <node if="$(arg rviz)" pkg="rviz" type="rviz" name="$(anon rviz)" respawn="false" output="screen" args="-d $(find lidar_deck)/rviz/lidar_deck.rviz" />-->
  <node if="$(arg rviz)" pkg="rviz" type="rviz" name="$(anon rviz)" respawn="false" output="screen" args="-d $(find lidar_deck)/rviz/config2_all.rviz" />

</launch> ...