This was originally asked on answers.ros.org , but upon more inspection I'm convinced this is a bug.
Using the DRCSim Robot (I've tried versions 1.1,1.2, and 1.3, built both from source and the packaged versions) while using the "fake walking" and subscribing to the laser scan from the head, gazebo will crash.
Steps for re-creating the bug:
- roslaunch atlas_utils drc_sim_v0.launch
- rosrun pr2_teleop teleop_pr2_keyboard cmd_vel:=atlas/cmd_vel
- rostopic hz scan
- Using the teleop_pr2_keyboard drive the robot around a bit. For me this will cause a crash in under a minute. This doesn't appear to happen when the robot is stationary.
Here is a stack trace of what I get when gzserver crashes: http://pastebin.com/LYv3tt8t
I've filed this as a bug against gazebo rather than DRCSim because of the contents of the stack trace.