BlueROV2 Heavy config crash

[jpvr20]

After arming the ROV and giving manual command rc 3 1450, the ROV starts to decrease altitude, but as soon as I give rc 3 1500, the gazebo crashes. I'm not sure why that is happening. I would appreciate your inputs, thank you!

  free(): invalid next size (fast)
  Stack trace (most recent call last):
  #31   Object "/lib/x86_64-linux-gnu/libc.so.6", at 0x7f9d3935e082, in __libc_start_main
  #30   Object "gz sim server", at 0x55d434bd317e, in 
  #29   Object "/lib/x86_64-linux-gnu/libruby-2.7.so.2.7", at 0x7f9d395da45d, in ruby_run_node
  #28   Object "/lib/x86_64-linux-gnu/libruby-2.7.so.2.7", at 0x7f9d395d55f0, in 
  #27   Object "/lib/x86_64-linux-gnu/libruby-2.7.so.2.7", at 0x7f9d39744d01, in rb_vm_exec
  #26   Object "/lib/x86_64-linux-gnu/libruby-2.7.so.2.7", at 0x7f9d3973e5f0, in 
  #25   Object "/lib/x86_64-linux-gnu/libruby-2.7.so.2.7", at 0x7f9d3972d815, in 
  #24   Object "/lib/x86_64-linux-gnu/libruby-2.7.so.2.7", at 0x7f9d397472ea, in 
  #23   Object "/lib/x86_64-linux-gnu/libruby-2.7.so.2.7", at 0x7f9d3973a4c4, in 
  #22   Object "/lib/x86_64-linux-gnu/libruby-2.7.so.2.7", at 0x7f9d396983ce, in 
  #21   Object "/lib/x86_64-linux-gnu/libruby-2.7.so.2.7", at 0x7f9d395d8742, in rb_protect
  #20   Object "/lib/x86_64-linux-gnu/libruby-2.7.so.2.7", at 0x7f9d39751f90, in rb_yield
  #19   Object "/lib/x86_64-linux-gnu/libruby-2.7.so.2.7", at 0x7f9d39744d01, in rb_vm_exec
  #18   Object "/lib/x86_64-linux-gnu/libruby-2.7.so.2.7", at 0x7f9d3973e5f0, in 
  #17   Object "/lib/x86_64-linux-gnu/libruby-2.7.so.2.7", at 0x7f9d3972d815, in 
  #16   Object "/lib/x86_64-linux-gnu/libruby-2.7.so.2.7", at 0x7f9d397472ea, in 
  #15   Object "/lib/x86_64-linux-gnu/libruby-2.7.so.2.7", at 0x7f9d3973a4c4, in 
  #14   Object "/usr/lib/x86_64-linux-gnu/ruby/2.7.0/fiddle.so", at 0x7f9d34dbc714, in 
  #13   Object "/lib/x86_64-linux-gnu/libruby-2.7.so.2.7", at 0x7f9d3970b939, in rb_nogvl
  #12   Object "/usr/lib/x86_64-linux-gnu/ruby/2.7.0/fiddle.so", at 0x7f9d34dbc8fb, in 
  #11   Object "/lib/x86_64-linux-gnu/libffi.so.7", at 0x7f9d34db1409, in 
  #10   Object "/lib/x86_64-linux-gnu/libffi.so.7", at 0x7f9d34db1ff4, in 
  #9    Object "/usr/lib/x86_64-linux-gnu/libgz-sim7-gz.so.7.5.0", at 0x7f9d34308b0d, in runServer
  #8    Object "/lib/x86_64-linux-gnu/libgz-sim7.so.7", at 0x7f9d33f1ba5b, in gz::sim::v7::Server::Run(bool, unsigned long, bool)
  #7    Object "/lib/x86_64-linux-gnu/libgz-sim7.so.7", at 0x7f9d33f273fe, in 
  #6    Object "/lib/x86_64-linux-gnu/libgz-sim7.so.7", at 0x7f9d33f37cf2, in gz::sim::v7::SimulationRunner::Run(unsigned long)
  #5    Object "/lib/x86_64-linux-gnu/libgz-sim7.so.7", at 0x7f9d33e7bc7a, in std::_Hashtable<unsigned long, unsigned long, std::allocator<unsigned long>, std::__detail::_Identity, std::equal_to<unsigned long>, std::hash<unsigned long>, std::__detail::_Mod_range_hashing, std::__detail::_Default_ranged_hash, std::__detail::_Prime_rehash_policy, std::__detail::_Hashtable_traits<false, true, true> >::clear()
  #4    Object "/lib/x86_64-linux-gnu/libc.so.6", at 0x7f9d393d0bab, in 
  #3    Object "/lib/x86_64-linux-gnu/libc.so.6", at 0x7f9d393cf2fb, in 
  #2    Object "/lib/x86_64-linux-gnu/libc.so.6", at 0x7f9d393c726d, in 
  #1    Object "/lib/x86_64-linux-gnu/libc.so.6", at 0x7f9d3935c858, in abort
  #0    Object "/lib/x86_64-linux-gnu/libc.so.6", at 0x7f9d3937d00b, in gsignal
  Aborted (Signal sent by tkill() 46432 1000)

[jpvr20]

I'm using Garden 7.5.0, does the version have to be v7.1.0? It doesn't happen with just bluerov2 config

[jpvr20]

@evan-palmer Would also appreciate your inputs!