VisualPlugin reading contact forces crashes gazebo (black screen)

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Hi,

I'm making my own gazebo plugin to read the contact forces on an object and the change the visual information accordingly. So far, I've been combining:

• A tutorial on a gazebo subscriber (http://www.gazebosim.org/tutorials?tu...)

• A thread on creating a VisualPlugin for Gazebo (http://answers.gazebosim.org/question...)

The plugin I made compiles fine but gives me a black screen when gazebo starts and crashes after about 100 iterations (becomes unresponsive). Verbose mode gives me no errors except a warning after about 30 seconds: "[Wrn] [Publisher.cc:131] Queue limit reached for topic /gazebo/default/pose/local/info, deleting message. This warning is printed only once."

Are there any other ways to figure out exactly why my plugin is crashing? I think it might have something to do with the way I create the subscriber. Here's my code:

material_plugin.h

material_plugin3.cpp