Delay between generated and measured acceleration

Hello guys,

I am currently generation acceleration on iris model in Gazebo but when I plot the generated and measured acceleration on quad in Gazebo, I find that there is a delay, do you know the reason? The plot below shows the generated acceleration and measured on the quad in x direction.


P.S. I interfaced PX4 with ROS in Gazebo to check the sensor nodes.
Thanks for your help.

Not sure where you are getting those data from, but from my experience delays like this are possible if the filters are used.

Thank you, I am getting the data from imu topic through MAVROS