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2016-08-14 11:21:17 -0500 answered a question Robots change shape and are fixed/stuck.

I've fixed it, turns out I was sending NaN to the cmd_vel topic of the robot, crashing the diff_drive_controller. Still not sure why this disabled the robots as in the picture.

2016-08-13 22:03:27 -0500 asked a question Robots change shape and are fixed/stuck.

Hey, I've been using 25 robots of the same type in a swarm simulation in Gazebo 2.2.3 on ROS Indigo. After about an hour of simulation at least half the robots are fixed in the centre of the world and I cannot move them with the hand tool. They do not respond to their subscribed topics, and actually change shape. Using the service: '/gazebo/reset_world' does not reset these stuck robots. In the attached picture ( ) are some of the normal robots and in the bottom right are about 10 fixed/stuck in the same place. I can't find anything like this online and there are no errors printed on console.

The robots themselves use the differential_drive_controllerplugin and are essentially the robots described in this tutorial: I have no idea how to address this and would much appreciate any ideas.