Hi @RaulTrombin
I really appreciate your reply and support. After debugging, we found (today) a straightforward solution. We just uploaded the latest (recommended) software from the link provided by @tony-white
(solution is at the end of the post)
Everything seems to be working well so far.
We need to run BlueBoat from ROS as the other vehicles we have, and the software available here can make this happen.
The noise you mentioned was not related to the motor but rather ignited by SW, which tried to access some HW. We first tried the Navigator lib.
Thanks, and good luck!