Hi!

Some amount of "trembling" even when you are looking at a static scenario, is normal and due to noise. I think that, in your case, the instability you perceive is greater than the actual one. Try to untick the "Use rainbow" option in Rviz, to see all the points with the same color.

Can you give some more context about what the data represent? It is not trivial to understand if the vibration are normal or not, without a clear picture of what we are looking at.

Hope this helps!