I've been building a modified DRC robot with 4 wheels and the upper torso. It works just fine on the generic plane, however using terrain maps cause bad behaviour.
I've seen two types of incorrect behaviours which happen when I approach a slope in the drc_terrain: 1. gazebo segfaults on approach about 80% of the time (see the stills attached) 2. the wheeled robot drives up the slope but its body doesnt tilt and is embedded within the visual terrain. It occasionally hops up and down and the arms flay around. Here's some stills showing the behaviour: http://people.csail.mit.edu/mfallon/share/2012nov/terrainmap_issue/ Also attached is everything needed to run the system including the modified robot model.
This is the simplest invocation: roscore gazebo mit_driving_task_wheeled_robot_terrain.world rosrun keyboard_teleop keyboard_teleop
Could you give me some feed back on this or do you have a well tested terrain map and robot model combo that I could build off of instead?