Gym Bridge crashes due to divide by zero error

[jessejay356]

When using the keyboard teleop I get occasional crashes from the f1tenth_gym_ros. It's a divide by zero error in the check_ttc_jit

gym_bridge-2] File "/home/jesse/f1tenth/sim_ws/install/f1tenth_gym_ros/lib/python3.8/site-packages/f1tenth_gym_ros/gym_bridge.py", line 226, in drive_timer_callback [gymbridge-2] self.obs, , self.done, _ = self.env.step(np.array([[self.ego_steer, self.ego_requested_speed]])) [gym_bridge-2] File "/home/jesse/f1tenth/f1tenth_gym/gym/f110_gym/envs/f110_env.py", line 270, in step [gym_bridge-2] obs = self.sim.step(action) [gym_bridge-2] File "/home/jesse/f1tenth/f1tenth_gym/gym/f110_gym/envs/base_classes.py", line 578, in step [gym_bridge-2] agent.update_scan(agent_scans, i) [gym_bridge-2] File "/home/jesse/f1tenth/f1tenth_gym/gym/f110_gym/envs/base_classes.py", line 438, in update_scan [gym_bridge-2] self.check_ttc(current_scan) [gym_bridge-2] File "/home/jesse/f1tenth/f1tenth_gym/gym/f110_gym/envs/base_classes.py", line 241, in check_ttc [gym_bridge-2] in_collision = check_ttc_jit(current_scan, self.state[3], self.scan_angles, self.cosines, self.side_distances, self.ttc_thresh) [gym_bridge-2] ZeroDivisionError: division by zero [ERROR] [gym_bridge-2]: process has died [pid 8242, exit code 1, cmd '/home/jesse/f1tenth/sim_ws/install/f1tenth_gym_ros/lib/f1tenth_gym_ros/gym_bridge --ros-args -r __node:=bridge --params-file /home/jesse/f1tenth/sim_ws/install/f1tenth_gym_ros/share/f1tenth_gym_ros/config/sim.yaml']

[hzheng40]

This is resolved by https://github.com/f1tenth/f1tenth_gym/pull/55.