From 55ff6a70e2b89b245ba260c0dce02712782f0422 Mon Sep 17 00:00:00 2001
From: Dario Messina <messina@etnamatica.com>
Date: Thu, 3 Jun 2021 12:36:53 +0200
Subject: [PATCH] Fixed crash caused by nan accelerations

---
 uuv_gazebo_worlds/worlds/herkules_ship_wreck.world | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/uuv_gazebo_worlds/worlds/herkules_ship_wreck.world b/uuv_gazebo_worlds/worlds/herkules_ship_wreck.world
index ea4c6c60a..b534276a2 100644
--- a/uuv_gazebo_worlds/worlds/herkules_ship_wreck.world
+++ b/uuv_gazebo_worlds/worlds/herkules_ship_wreck.world
@@ -17,9 +17,9 @@
 <sdf version="1.4">
   <world name="munkholmen">
     <physics name="default_physics" default="true" type="ode">
-      <max_step_size>0.01</max_step_size>
+      <max_step_size>0.002</max_step_size>
       <real_time_factor>1</real_time_factor>
-      <real_time_update_rate>100</real_time_update_rate>
+      <real_time_update_rate>500</real_time_update_rate>
       <ode>
         <solver>
           <type>quick</type>