Lidar movement not in sync with robot

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I'm simulating a vehicle with lidar in Gazebo Garden for SLAM. When I move the vehicle, movement of lidar sensor is not in sync with the vehicle. As a result, SLAM map output is not as expected

Lidar used - gpu_lidar plugin - gz::sim::systems::Sensors filename="libgz-sim-sensors-system.so"

I've also tried different update rates for the sensor. But there's no difference