[BUG]: Divide by 0 error when calculating acceleration

[evan-palmer]

Describe the bug

There is an occasional error that occurs when computing the acceleration during collision avoidance checking. When this occurs, this causes the system to fail.

To Reproduce

Steps to reproduce the behavior:

1. Execute a collision avoidance example (i.e., collision_avoidance.py or collision_avoidance_no_flight.py)

Expected behavior

The system should properly anticipate and handle a potential 0 denominator

Stack Traceback

This occurs in the message_listeners.py file. A fix has been pushed to the branch icra_2023 and can be ported to the main branch

Project Version

v0.1.0

Desktop

The error occurred on a Dell XPS 13 running Ubuntu 22.04 natively. The script was run from within the development container.

Additional context

N/A