uuv simulation gazebo 11 rotating around a fixed point instead of moving forward

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My simulation of a UUV in ros noetic gazebo 11 is rotating around a single point towards the front of the vehicle. I'm using a joystick controller to command the vehicle.

I've tried to change the visual and collision origin <origin xyz="2.841 3.012 22.278" rpy="1.5708 0 1.5708"/> to be the center of mass of the vehicle but that didn't change anything, it's still rotating around the front of the uuv.

Does anyone have any idea what could be going on?