gazebo simulation crashes on collision with wall
I am trying to create a simulation of my lab along with some of the robots we use. Some preliminary work in open space works fine. However collisions on the wall can results in incorrect simulation. I've managed to reproduce this with both the Erratic robot as well as a PR2 (see video link).
http://zweb.cs.utexas.edu/users/piyushk/share/gazebo.ogv The errors in simulation happens at 0:18 and 0:42, but does not happen at 0:32 when crashing into a wall. Typically the simulation terminates as the pose of the robot becomes NaN.
Replicating this for a PR2 was a bit more difficult. On most occasions the PR2 exhibited realistic behavior when crashing into the wall. The error can potentially be reproduced by the following commands:
roslaunch gazebo_worlds wg_collada_world.launch
roslaunch pr2_gazebo pr2.launch
roslaunch pr2_teleop teleop_keyboard.launch
Any suggestions to prevent this from happening will be greatly appreciated.
