Hi Anton,
I can confirm there is a bug in collada collision mesh initialization.
 While this is being debugged, I've checked an update into trunk for now
that use uses stl for collision.
https://kforge.ros.org/gazebo/trac/ticket/45
Thanks,
John

On Mon, Mar 12, 2012 at 2:00 PM, Antons Rebguns <arebgun@gmail.com> wrote:

> Hello folks,
>
> I in the process of updating the erratic_robot stack for ROS Fuerte
> and I have one problem that I am not sure how to solve. When I spawn a
> robot (an Erratic or PR2) in WG environment the lasers don't see any
> walls, and in fact you can just drive through walls as if they are not
> there.
>
> Here's the launch file I am using:
>
> <launch>
>    <param name="/use_sim_time" value="true" />
>
>    <node name="empty_world_server"
>          pkg="gazebo"
>          type="gazebo"
>          args="-u $(find gazebo_worlds)/worlds/wg_collada.world"
>          respawn="false"
>          output="screen"/>
>
>    <node name="gazebo_gui" pkg="gazebo" type="gui" respawn="false"
> output="screen"/>
>
>    <include file="$(find
> erratic_description)/launch/erratic_mobile_base.launch" />
> </launch>
>
> The last line can be changed to launch a PR2 robot instead, but I got
> the same results.
>
> Am I missing a step?
>
> Thanks,
> Anton
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-- 
John Hsu, Ph.D.
Senior Research Engineer
Willow Garage Inc.
+1-650-475-2809