diff --git a/usv_gazebo_plugins/CMakeLists.txt b/usv_gazebo_plugins/CMakeLists.txt
index 3bed368d1..911f76675 100644
--- a/usv_gazebo_plugins/CMakeLists.txt
+++ b/usv_gazebo_plugins/CMakeLists.txt
@@ -19,8 +19,8 @@ catkin_package(
   CATKIN_DEPENDS message_runtime gazebo_dev roscpp wave_gazebo_plugins
 )
 
-# Plugins require c++11
-set(CMAKE_CXX_FLAGS "-std=c++11 ${CMAKE_CXX_FLAGS}")
+# Plugins require c++17
+set(CMAKE_CXX_FLAGS "-std=c++17 ${CMAKE_CXX_FLAGS}")
 
 include_directories( include
   ${catkin_INCLUDE_DIRS}
diff --git a/usv_gazebo_plugins/include/usv_gazebo_plugins/usv_gazebo_dynamics_plugin.hh b/usv_gazebo_plugins/include/usv_gazebo_plugins/usv_gazebo_dynamics_plugin.hh
index 98a58a682..598dcfe22 100644
--- a/usv_gazebo_plugins/include/usv_gazebo_plugins/usv_gazebo_dynamics_plugin.hh
+++ b/usv_gazebo_plugins/include/usv_gazebo_plugins/usv_gazebo_dynamics_plugin.hh
@@ -40,7 +40,7 @@ namespace gazebo
   /// <boatArea>: Horizontal surface area [m^2]. Default value is 0.48.
   /// <boatLength>: Boat length [m]. Default value is 1.35.
   /// <boatWidth>: Boat width [m]. Default value is 1.
-  /// <waterDensity>: Water density [kg/m^3]. Default value is 997.7735.
+  /// <waterDensity>: Water density [kg/m^3]. Default value is 1000.
   /// <waterLevel>: Water height [m]. Default value is 0.5.
   /// <xDotU>: Added mass coeff, surge.
   /// <yDotV>: Added mass coeff, sway.
diff --git a/usv_gazebo_plugins/src/buoyancy_gazebo_plugin.cc b/usv_gazebo_plugins/src/buoyancy_gazebo_plugin.cc
index 65f76a383..cb1606e5d 100644
--- a/usv_gazebo_plugins/src/buoyancy_gazebo_plugin.cc
+++ b/usv_gazebo_plugins/src/buoyancy_gazebo_plugin.cc
@@ -105,7 +105,7 @@ std::string BuoyancyObject::Disp()
 
 /////////////////////////////////////////////////
 BuoyancyPlugin::BuoyancyPlugin()
-  : fluidDensity(997),
+  : fluidDensity(1000),
     fluidLevel(0.0),
     linearDrag(0.0),
     angularDrag(0.0),
diff --git a/usv_gazebo_plugins/src/usv_gazebo_dynamics_plugin.cc b/usv_gazebo_plugins/src/usv_gazebo_dynamics_plugin.cc
index 05aae52bc..6a4561bbc 100644
--- a/usv_gazebo_plugins/src/usv_gazebo_dynamics_plugin.cc
+++ b/usv_gazebo_plugins/src/usv_gazebo_dynamics_plugin.cc
@@ -88,7 +88,7 @@ void UsvDynamicsPlugin::Load(physics::ModelPtr _model, sdf::ElementPtr _sdf)
   }
 
   this->waterLevel       = this->SdfParamDouble(_sdf, "waterLevel"  , 0.5);
-  this->waterDensity     = this->SdfParamDouble(_sdf, "waterDensity", 997.7735);
+  this->waterDensity     = this->SdfParamDouble(_sdf, "waterDensity", 1000);
   this->paramXdotU       = this->SdfParamDouble(_sdf, "xDotU"       , 5);
   this->paramYdotV       = this->SdfParamDouble(_sdf, "yDotV"       , 5);
   this->paramZdotW       = this->SdfParamDouble(_sdf, "zDotW"       , 0.1);
diff --git a/wamv_gazebo/urdf/dynamics/wamv_gazebo_dynamics_plugin.xacro b/wamv_gazebo/urdf/dynamics/wamv_gazebo_dynamics_plugin.xacro
index 71eb2656a..dc6ed04e1 100644
--- a/wamv_gazebo/urdf/dynamics/wamv_gazebo_dynamics_plugin.xacro
+++ b/wamv_gazebo/urdf/dynamics/wamv_gazebo_dynamics_plugin.xacro
@@ -7,7 +7,7 @@
         <bodyName>${namespace}/base_link</bodyName>
         <!-- Must be same as the ocean model!-->
         <waterLevel>0</waterLevel>
-        <waterDensity>997.8</waterDensity>
+        <waterDensity>1000</waterDensity>
         <!-- Added mass -->
         <xDotU>0.0</xDotU>
         <yDotV>0.0</yDotV>
diff --git a/wave_gazebo_plugins/CMakeLists.txt b/wave_gazebo_plugins/CMakeLists.txt
index 998674a3e..c9e04e0e1 100644
--- a/wave_gazebo_plugins/CMakeLists.txt
+++ b/wave_gazebo_plugins/CMakeLists.txt
@@ -2,21 +2,13 @@ cmake_minimum_required(VERSION 2.8.3)
 project(wave_gazebo_plugins)
 
 ###############################################################################
-# Compile as C++11, supported in ROS Kinetic and newer
 
-#set(CMAKE_CXX_STANDARD 11)
-#set(CMAKE_CXX_STANDARD_REQUIRED ON)
-
-# For this package set as C++14
 include(CheckCXXCompilerFlag)
-CHECK_CXX_COMPILER_FLAG("-std=c++14" COMPILER_SUPPORTS_CXX14)
-CHECK_CXX_COMPILER_FLAG("-std=c++0x" COMPILER_SUPPORTS_CXX0X)
-if(COMPILER_SUPPORTS_CXX14)
-    set(CMAKE_CXX_FLAGS "-std=c++14")
-elseif(COMPILER_SUPPORTS_CXX0X)
-    set(CMAKE_CXX_FLAGS "-std=c++0x")
+CHECK_CXX_COMPILER_FLAG("-std=c++17" COMPILER_SUPPORTS_CXX17)
+if(COMPILER_SUPPORTS_CXX17)
+    add_compile_options(-std=c++17)
 else()
-    message(FATAL_ERROR "The compiler ${CMAKE_CXX_COMPILER} has no C++14 support. Please use a different C++ compiler.")
+    message(FATAL_ERROR "The compiler ${CMAKE_CXX_COMPILER} has no C++17 support. Please use a different C++ compiler.")
 endif()
 
 # Set policy for CMake 3.1+. Use OLD policy to let FindBoost.cmake, dependency
diff --git a/wave_gazebo_plugins/include/wave_gazebo_plugins/PhysicalConstants.hh b/wave_gazebo_plugins/include/wave_gazebo_plugins/PhysicalConstants.hh
index eb991d3cc..b0e9f7498 100644
--- a/wave_gazebo_plugins/include/wave_gazebo_plugins/PhysicalConstants.hh
+++ b/wave_gazebo_plugins/include/wave_gazebo_plugins/PhysicalConstants.hh
@@ -43,7 +43,7 @@ namespace asv
 
     /// \brief Density of water.
     ///
-    /// \return     998.6 [kg m-3].
+    /// \return     1000 [kg m-3].
     public: static double WaterDensity();
 
     /// \brief Kinematic viscosity of water at 18 dgree C.
diff --git a/wave_gazebo_plugins/src/PhysicalConstants.cc b/wave_gazebo_plugins/src/PhysicalConstants.cc
index 4d1ffee53..c1c0c1016 100644
--- a/wave_gazebo_plugins/src/PhysicalConstants.cc
+++ b/wave_gazebo_plugins/src/PhysicalConstants.cc
@@ -34,7 +34,7 @@ namespace asv
   /////////////////////////////////////////////////////////////////////////////
   double PhysicalConstants::WaterDensity()
   {
-    return 998.6;
+    return 1000.;
   }
 
   /////////////////////////////////////////////////////////////////////////////