The topic /fsds/testing_only/odom was getting clogged up, when being read from the simulation. The data was delayed, which influenced the processing.
Changing the frequency of publishin go the topic in the launch file: Formula-Student-Driverless-Simulator/ros/src/fsds_ros_bridge/launch In this line the value: '''
''' ### Solution 2 Lowering the size of the queue of the simulator In the file ~/Formula-Student-Driverless-Simulator/ros/src/fsds_ros_bridge/src/airsim_ros_wrapper.cpp, change in the next lines the argument after "testing_only/odom" to the desired size of the queue. ''' if(!competition_mode_) { odom_pub = nh_.advertise("testing_only/odom", 1); track_pub = nh_.advertise("testing_only/track", 10, true); extra_info_pub = nh_.advertise("testing_only/extra_info", 10, true); } '''