Gazebo object pose and getAsEuler

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It depends what you want. The reason for the uncontinuity is that the angles are normalized. If you would use them incrementally values might grow arbitrarily, so they are not that nice to read (and which with huge values might lead to loss of precision). One solution would be to "renormalize" to the last angle, i.e.:

• Remember the last angle
• Get current (normalized) angle
• add/substract 2*pi until (angle - last_angle) is smallest

The better solution would probably be to handle that nicely in the controller, but that depends on its functionality (e.g. if you calculate an angle difference in the controller normalize that difference). The angles packages provides: shortest_angular_distance for this.