Obstacle Avoidance AirSim?
hwadiadinkra opened this issue · comments
Has anyone got the local planner working for AirSim? I read a post #114 earlier that someone did, but I am having a difficult time figuring out how to incorporate the PX4 Lidar from AirSim into the FCU frame of the local planner.
This is the transform tree without any modifications:
Things I've tried:
- Configuring a static transform between world_ned of AirSim and local_origin and fcu frame in just about every configuration:
<node pkg="tf" type="static_transform_publisher" name="tf_airsim_bridge"
args="0 0 0 0 0 0 world_ned local_origin 10"/>
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Modify px4_config.yaml file to directly point to PX4/local_odom frame of AirSim
-
Using GazeboDrone which worked to some extent, but still having issues sourcing the pointcloud from AirSim into the local planner.
Any help would be appreciated.
Got any Answers for this issue? I am also facing same error