Divergence in Walk viz of values that should be equal

[Flova]

Summary

Expected behavior

The blue and orange marker should be at the same point, but they somehow diverge. This might an issue with the display of TF timings, which would be fine, but it could also be something else. The baselink goal also diverges similarly from the tf position, which is probably related:

This does not happen if the robot stands still.

Steps to Reproduce

1. Start motion standalone in sim
2. Open dynamic reconfigure and enable walk debug output
3. Open rviz2 and add walk debug markers
4. Observe during walking / standing