LaserScan data not cleared in Rviz2 with Isaac Sim 4.5

[dmnaac]

Description

I am trying to build up a simulation environment in Isaac Sim 4.5.0 to simulate and publish ROS 2 topics with Rviz2. All components of this simulation environment are from Isaac Sim Assets [Beta], as listed below.

Environment: Isaac Sim Assets [Beta]/ENVIRONMENTS/hospital
Robot: Isaac Sim Assets [Beta]/SAMPLES/Nova_Carter_ROS

I have enabled the front_2d_lidar in the robot and published its laser_scan data. In both Isaac Sim and Rviz2, I can see the lidar scan. However, when the robot is moving, the lidar scan data are kept in Rviz2 all the time.

The laser_scan data can be seen in this image.

However, the past data are still kept in Rviz2 when the robot is moving. The Fixed Frame in Rviz2 is set to the frame of the lidar 'front_2d_lidar', so the LaserScan topic for this lidar should display the latest data only.

Could anyone help me with this problem?

Thanks a lot!

System Information

Isaac sim Version: 4.5.0
Operating System: Ubuntu 22.04
GPU Information: NVIDIA GeForce RTX 4070 Ti SUPER
ROS2 Version: Humble
Rviz2: The parameter 'use_sim_time' is set to true