Issues with the default IMU measurements on WAMV

[Chullll]

Describe the bug
When I apply a control script to the WAMV in the scene, if I keep the values for the two thrusters constant, there are no issues with the IMU data acquisition. However, when I want the vessel to move straight and then turn, the z-axis angular velocity values published by Gazebo from the IMU measurements exhibit significant positive and negative fluctuations that repeatedly jump back and forth. yet the boat’s motion in my scene appears normal, and I haven’t observed any significant jumps in the measured attitude values. What could be causing this?

To Reproduce
List the steps to reproduce the problem:

1. Run 'ros2 launch vrx_gz competition.launch.py world:=sydney_regatta'
2. Next, run 'ros2 run wamv_control simple_thruster_control'
3. Next, run 'gz topic -e -t /world/sydney_regatta/model/wamv/link/wamv/imu_wamv_link/sensor/imu_wamv_sensor/imu | grep -A 4 -i angular'
4. See error

System Configuration:
Tell us about your system.

• OS: Ubuntu 24.04 LTS
• ROS Version: ROS 2 Jazzy
• Gazebo Version: Gazebo Harmonic
• VRX

Screenshots

[stepanove]

Hi @Chullll, I had a similar issue (#866), a proposed solution is in PR #867. You might try it out in my fork, or in my playground project.