Not able to control robot's motion smoothly

[pengzhi1998]

Firstly I want to say thank you for the amazing project, UUV Simulator! It is really a great implementation for underwater simulation!

However, I have a question about its control. I found when I used the following commands: roslaunch uuv_tutorial_dp_controller start_tutorial_dp_controller_demo.launch roslaunch uuv_teleop uuv_keyboard_teleop.launch uuv_name:=rexrov； to control rexrov with the keyboard, the robot will move smoothly initially. However, after several steps, the robot will start to be sloping and move in an aberrant direction (for example, I give it a command to move upward, however, it will take an upward synclinal motion)

At last, the robot's motion even goes crazy. After a series of control commands, the robot starts to roll aiminglessly and at this moment I'm not offering any control commands. It seems that this controller has a weak ability in feedback control and the errors are accumulated.

Do you have any suggestions on this problem? And is there any alternative launch file (controller) provided in the UUV Simulator project?