Heightmap collision buggy and partially different from visuals

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Original report (archived issue) by Thomas Koletschka (Bitbucket: thomasko).

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Copy pasted from issue #572:

Visual geometry and collision geometry are different at some parts of the terrain, or maybe the collision geometry is buggy. See https://www.youtube.com/watch?v=TXkw3nV1OR0 and https://www.youtube.com/watch?v=r6aH04E_F_8 for some examples. This makes walking on the heightmap even more difficult and unpredictable than it already is with all the other heightmap related bugs and problems listed above.

Problem applied to Atlas:

Atlas slips, glides, and/or falls through the heightmap when it gets close to an edge. Example of extreme slipping (or maybe small penetrations that make it slip forward): https://www.youtube.com/watch?v=ojSBBKH9Ne8 and an example of atlas falling through the heightmap for several centimeters: https://www.youtube.com/watch?v=5fKJtuXpIks

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Original comment by Thomas Koletschka (Bitbucket: thomasko).

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• changed priority from "critical" to "blocker"

upranked to blocker as it prevents proper walking on the VRC terrain and is more critical than the other test or debug visualization related gazebo tickets with "critical" priority.

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Original comment by Thomas Koletschka (Bitbucket: thomasko).

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• Edited issue description
  youtu.be links seem to have expired, updated with youtube.com links

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Original comment by Nate Koenig (Bitbucket: Nathan Koenig).

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Issue #664 was marked as a duplicate of this issue.

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Original comment by Ian Chen (Bitbucket: Ian Chen, GitHub: iche033).

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• changed priority from "blocker" to "minor"

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Original comment by Ian Chen (Bitbucket: Ian Chen, GitHub: iche033).

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• changed state from "new" to "on hold"

pull request #493 improved terrain, and pull request #274 in drcsim addresses drc specific issue.

Putting it on hold instead of resolved because ODE heighfield problem still exists. Workaround is to use finer resolution terrain.

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Original comment by Ian Chen (Bitbucket: Ian Chen, GitHub: iche033).

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• changed state from "on hold" to "open"

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Original comment by Nate Koenig (Bitbucket: Nathan Koenig).

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• set version to "all"

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Original comment by Nate Koenig (Bitbucket: Nathan Koenig).

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• changed state from "open" to "new"

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Original comment by Louise Poubel (Bitbucket: chapulina, GitHub: chapulina).

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• set component to "physics"

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Original comment by Shane Loretz (Bitbucket: Shane Loretz, GitHub: sloretz).

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Is this a duplicate of #245?

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Original comment by Ian Chen (Bitbucket: Ian Chen, GitHub: iche033).

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yes I believe so

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Original comment by Shane Loretz (Bitbucket: Shane Loretz, GitHub: sloretz).

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• changed state from "new" to "duplicate"

Duplicate of #245.