Fix the problem in ros: can't take off after reset

[shuaikangma]

Fixes: #4424

can't take off after reset in ros

About

#4424
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?

How Has This Been Tested?

According to the api doc:
reset: This resets the vehicle to its original starting state. Note that you must call enableApiControl and armDisarm again after the call to reset.

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

Screenshots (if appropriate):

[ghost]

All CLA requirements met.

[shuaikangma]

Fixes:
####Add collision state publish in ros, now you can see a topic named /{Vehicle_Name}/collision_state(std_msgs::Bool) to show current collision state of the vehicle named {Vehicle_Name}. False---no cllision; True---collision

About
#4424

How Has This Been Tested?
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

use rqt to publish takeoff srv and vel topic, see the change of the /{Vehicle_Name}/collision_state topic before and after colission.

Screenshots (if appropriate):

After takeoff, none of the two drone is in collision

Drone1 is in collision, Drone2 is not

Both of them are in collision

[zimmy87]

Hey @shuaikangma, thank you for submitting this PR! I tested it locally and it's working for me. However, it seems that your PR is failing the clang-format check. Please follow these steps to resolve this:

1. check out your pull request
2. run git checkout master .clang-format in your repo's root folder
3. if you don't have npm installed, download it from https://www.npmjs.com/get-npm
4. run npm install -g clang-format
5. run clang-format -i path/to/file for each failing file (failing files can be found in the details for the clang-format check)
6. run git add -u to track all style changes
7. run git commit -am "apply style from clang-format"
8. run git merge master
9. resolve other non-style conflicts if you have any
10. push changes

Thanks for helping us with these style changes!

[rajat2004]

Is there a reason to have this check? This is created in in the constructor itself, and the ROS service would have failed much earlier if it's null

[zimmy87]

Was this latest commit intentional? We're not sure if we want to merge gamepad support for a specific drone. If this script is only relevant to this one drone (Tello Talent), please move this latest commit to a new branch/PR. We'd still like to take the more general reset fix by itself, however.