diff -r a2410ee85ccb gazebo/sensors/GaussianNoiseModel.cc
--- a/gazebo/sensors/GaussianNoiseModel.cc Sat Feb 10 18:55:41 2018 +0000
+++ b/gazebo/sensors/GaussianNoiseModel.cc Thu Jun 28 13:07:08 2018 +0200
@@ -114,7 +114,12 @@
biasMean = _sdf->Get<double>("bias_mean");
if (_sdf->HasElement("bias_stddev"))
biasStdDev = _sdf->Get<double>("bias_stddev");
- this->bias = ignition::math::Rand::DblNormal(biasMean, biasStdDev);
+ if (biasStdDev > 0) {
+ this->bias = ignition::math::Rand::DblNormal(biasMean, biasStdDev);
+ } else {
+ // StdDev == 0, not a proper normal distribution. Use the mean instead.
+ this->bias = biasMean;
+ }
// With equal probability, we pick a negative bias (by convention,
// rateBiasMean should be positive, though it would work fine if
// negative).