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How to enable collision in gazebo?

I try to run l_arm_controller to move gazebo PR2 robot.

I found when it collision, it shows the two arm locate on the same place...

http://imgur.com/n3pp6o0

How to solve it?

Thank you~

How to enable collision in gazebo?

I try to run l_arm_controller to move gazebo PR2 robot.

I found when it collision, it shows the two arm locate on the same place...

image description

http://imgur.com/n3pp6o0

How to solve it?

Thank you~

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