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I use the same obstacle handler function. But the actor just goes through the wall.

If you take a look at the ActorPlugin::HandleObstacle function, all it checks is whether the actor is within 4 m of a model's origin. That's probably not very appropriate for walls, even if each wall is a separate model. Walls tend to be long and that function is more appropriate for point obstacles.

Here's a function which checks against the bounding box of an obstacle, but beware that in my experience, Gazebo may return bad bounding box for some meshes, but should work fine if each of your walls consists of a box.