IMU Sensor generates spikes and breaks SLAM

[EmmanuelMess]

I have an IMU defined with no noise:

  <sensor name="${camera_name}imu" type="imu">
    <always_on>true</always_on>
    <update_rate>200</update_rate>
    <topic>${camera_name}/imu/sample</topic>
    <plugin name="${camera_name}imu" filename="libgazebo_ros_imu_sensor.so">
      <topicName>${camera_name}/imu/sample</topicName>
      <bodyName>${camera_name}_link</bodyName>
      <frameName>${gyro_optical_frame}</frameName>
      <updateRateHZ>200</updateRateHZ>
      <gaussianNoise>0.0</gaussianNoise>
      <xyzOffset>0 0 0</xyzOffset>
      <rpyOffset>0 0 0</rpyOffset>
      <initialOrientationAsReference>false</initialOrientationAsReference>
    </plugin>
  </sensor>

But when getting the data I have substantial spikes when turning, this breaks my ORB-SLAM3 when I add the IMU:

My physics is defined in the world as:

<physics name="default_physics" default="0" type="ode">
  <max_step_size>0.0001</max_step_size>
  <real_time_factor>1</real_time_factor>
  <real_time_update_rate>10000</real_time_update_rate>
  <ode>
    <constraints>
      <contact_max_correcting_vel>0.001</contact_max_correcting_vel>
    </constraints>
  </ode>
</physics>

And the path looks like this: