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How can I get collision information with AirSim ROS Wrapper? #4424

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shuaikangma opened this issue Mar 20, 2022 · 2 comments · May be fixed by #4426
Open

How can I get collision information with AirSim ROS Wrapper? #4424

shuaikangma opened this issue Mar 20, 2022 · 2 comments · May be fixed by #4426
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@shuaikangma
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What's your question?

How can I get collision information with AirSim ROS Wrapper?

Include context on what you are trying to achieve

I want to use AirSim in a drl-based navigation system. I just want to get a collision trigger and the give my agent a negative reward , then reset the env.

Context details

AIrSim version: #4410
Unreal version: v1.7.0-linux
OS version: ubuntu18.04 with ros-melodic
Use default settiongs :AirSim/ros/settings/front_stereo_and_center_mono.json in #4410

Include details of what you already did to find answers

By the way, I test reset service manually use rqt in ros, it can't take off after reset service being called. I see a commit and merge in the early version, but it may dose't work?
@shuaikangma shuaikangma linked a pull request Mar 21, 2022 that will close this issue
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@shuaikangma
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I attempt to use airsim_client_->simGetCollisionInfo(vehicle_ros->vehicle_name) and drone->curr_drone_state.collision.has_collided in ros::Time AirsimROSWrapper::update_state() at ~/AirSim/ros/src/airsim_ros_pkgs/src/airsim_ros_wrapper.cpp to get the collision information, but both of them return 0(I print the CollisionInfo.time_stamp, but it turns to be 0).

@shuaikangma
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My fault!
I didn't print CollisionInfo.has_collision when test airsim_client_->simGetCollisionInfo(vehicle_ros->vehicle_name), it really worked! But _**drone->curr_drone_state.collision.has_collided**_ still didn't work.
I fix it in #4426

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Fix the problem in ros: can't take off after reset shuaikangma/AirSim
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@jonyMarino @shuaikangma