Hi. Sorry for all mistakes, English is not my native language. So I have a diff drive robot simulation. It is ported robot from ROS1 Noetic and for now I am using Foxy. Everything was fine on Noetic but on Foxy robot manages to circle on map a little and then Gazebo craches with following error:

[gzclient-3] gzclient: /build/ogre-1.9-kiU5_5/ogre-1.9-1.9.0+dfsg1/OgreMain/include/OgreAxisAlignedBox.h:251: void Ogre::AxisAlignedBox::setExtents(const Ogre::Vector3&, const Ogre::Vector3&): Assertion `(min.x <= max.x && min.y <= max.y && min.z <= max.z) && "The minimum corner of the box must be less than or equal to maximum corner"' failed.

All that I find is this and this from wich I could suppose, that problem is odometry, but still I don't know how to solve this problem. Appreciate any hints and thoughts.