Hi everyone,
I currently have a problem with autnomous underwater vehicles simulation。
world: multi_lrauv_race.sdf
description: publish a thrust like “gz topic -t /model/tethys/joint/propeller_joint/cmd_thrust -m gz.msgs.Double -p ‘data:0.5’”，At first, everything was normal，Suddenly the speed becomes very fast, and then the system crashes
Hera is the error:
ODE INTERNAL ERROR 1: assertion "aabbBound >= dMinIntExact && aabbBound < dMaxIntExact" failed in collide() [collision_space.cpp:460]
Stack trace (most recent call last):
#31 Object "/lib/x86_64-linux-gnu/libruby-3.0.so.3.0", at 0x7f5439234c96, in
#30 Object "/lib/x86_64-linux-gnu/libruby-3.0.so.3.0", at 0x7f5439231fc5, in
#29 Object "/lib/x86_64-linux-gnu/libruby-3.0.so.3.0", at 0x7f543922fc34, in
#28 Object "/lib/x86_64-linux-gnu/libruby-3.0.so.3.0", at 0x7f543917ba1e, in
#27 Object "/lib/x86_64-linux-gnu/libruby-3.0.so.3.0", at 0x7f54390a69ac, in rb_protect
#26 Object "/lib/x86_64-linux-gnu/libruby-3.0.so.3.0", at 0x7f543923ec61, in rb_yield
#25 Object "/lib/x86_64-linux-gnu/libruby-3.0.so.3.0", at 0x7f543923a30c, in rb_vm_exec
#24 Object "/lib/x86_64-linux-gnu/libruby-3.0.so.3.0", at 0x7f5439234c96, in
#23 Object "/lib/x86_64-linux-gnu/libruby-3.0.so.3.0", at 0x7f5439231fc5, in
#22 Object "/lib/x86_64-linux-gnu/libruby-3.0.so.3.0", at 0x7f543922fc34, in
#21 Object "/usr/lib/x86_64-linux-gnu/ruby/3.0.0/fiddle.so", at 0x7f54393a344b, in
#20 Object "/lib/x86_64-linux-gnu/libruby-3.0.so.3.0", at 0x7f54391fd088, in rb_nogvl
#19 Object "/usr/lib/x86_64-linux-gnu/ruby/3.0.0/fiddle.so", at 0x7f54393a2d6b, in
#18 Object "/lib/x86_64-linux-gnu/libffi.so.8", at 0x7f5439394492, in
#17 Object "/lib/x86_64-linux-gnu/libffi.so.8", at 0x7f5439397e2d, in
#16 Object "/usr/lib/x86_64-linux-gnu/libgz-sim7-gz.so.7.5.0", at 0x7f5438e7b80d, in runServer
#15 Object "/lib/x86_64-linux-gnu/libgz-sim7.so.7", at 0x7f54339397e5, in
#14 Object "/lib/x86_64-linux-gnu/libgz-sim7.so.7", at 0x7f543394647a, in gz::sim::v7::SimulationRunner::Run(unsigned long)
#13 Object "/lib/x86_64-linux-gnu/libgz-sim7.so.7", at 0x7f5433945b40, in gz::sim::v7::SimulationRunner::Step(gz::sim::v7::UpdateInfo const&)
#12 Object "/lib/x86_64-linux-gnu/libgz-sim7.so.7", at 0x7f54339423e2, in gz::sim::v7::SimulationRunner::UpdateSystems()
#11 Object "/usr/lib/x86_64-linux-gnu/gz-sim-7/plugins/libgz-sim-physics-system.so", at 0x7f542c4bfa86, in gz::sim::v7::systems::Physics::Update(gz::sim::v7::UpdateInfo const&, gz::sim::v7::EntityComponentManager&)
#10 Object "/usr/lib/x86_64-linux-gnu/gz-sim-7/plugins/libgz-sim-physics-system.so", at 0x7f542c4c0101, in gz::sim::v7::systems::PhysicsPrivate::Step(std::chrono::duration<long, std::ratio<1l, 1000000000l> > const&)
#9 Object "/usr/lib/x86_64-linux-gnu/gz-physics-6/engine-plugins/libgz-physics-dartsim-plugin.so", at 0x7f53fdb96e2b, in gz::physics::dartsim::SimulationFeatures::WorldForwardStep(gz::physics::Identity const&, gz::physics::SpecifyData<gz::physics::RequireData<gz::physics::WorldPoses>, gz::physics::ExpectData<gz::physics::ChangedWorldPoses, gz::physics::Contacts, gz::physics::JointPositions> >&, gz::physics::CompositeData&, gz::physics::ExpectData<gz::physics::ApplyExternalForceTorques, gz::physics::ApplyGeneralizedForces, gz::physics::VelocityControlCommands, gz::physics::ServoControlCommands, std::chrono::duration<long, std::ratio<1l, 1000000000l> > > const&)
#8 Object "/lib/x86_64-linux-gnu/libdart.so.6.12", at 0x7f53fd766e73, in dart::simulation::World::step(bool)
#7 Object "/lib/x86_64-linux-gnu/libdart.so.6.12", at 0x7f53fd74c705, in dart::constraint::ConstraintSolver::solve()
#6 Object "/lib/x86_64-linux-gnu/libdart.so.6.12", at 0x7f53fd74afe1, in dart::constraint::ConstraintSolver::updateConstraints()
#5 Object "/lib/x86_64-linux-gnu/libdart-collision-ode.so.6.12", at 0x7f54027151cb, in dart::collision::OdeCollisionDetector::collide(dart::collision::CollisionGroup*, dart::collision::CollisionOption const&, dart::collision::CollisionResult*)
#4 Object "/lib/x86_64-linux-gnu/libode.so.8", at 0x7f540071e266, in dxHashSpace::collide(void*, void (*)(void*, dxGeom*, dxGeom*))
#3 Object "/lib/x86_64-linux-gnu/libode.so.8", at 0x7f54007267b7, in dDebug
#2 Object "/lib/x86_64-linux-gnu/libc.so.6", at 0x7f5438c287f2, in abort
#1 Object "/lib/x86_64-linux-gnu/libc.so.6", at 0x7f5438c42475, in raise
#0 Object "/lib/x86_64-linux-gnu/libc.so.6", at 0x7f5438c96a7c, in pthread_kill
Aborted (Signal sent by tkill() 1504067 1000)
Appreciate any help!