Thanks to the USV SITL integration work by @Jaeyoung-Lim, I am able to work on the USV SITL although there is an unwanted drift in the direction of both yaw and sway (or, maybe pitch, roll, heave, and surge motions are all combined).
[Not desired trajectory happening at the moment]
[The desired trajectory what I am trying to achieve]
During the past couple of days, I am investigating the cause of this erratic motion and still trying to figure out the cause of this problem by performing basic trials and errors (in particular, I am looking at gazebo_usv_dynamics_plugin.cpp, boat_sitl.main.mix, and 1070_boat files).
Is there anyone who progressed ahead by fixing the error? In the below, I attached all related links to this problem.
[Previous work on PX4 based USV SITL on Gazebo]
[USV SITL on Gazebo in Virtual RoboX (VRX)]
[Six types of motion on a ship]