Rotational error in robot model definition

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Hello, I am using a clearpath robotics base named Jackal in the Gazebo simulator and am having troubles with the way the robot rotates in the simulator. The robot tends to rotate about a point forward to where it actually should, despite the motion appearing correctly in RViz. This causes massive rotational error while trying to use the simulated laser scanner for localization.

Example side-by-side video (webm)

I'm not entirely sure what I can change or look at in order to fix this issue as it seems that in order for RViz to display the rotation properly it probably isn't a URDF error...?