Collision mismatch when using Gazebo physics with AirSim visuals (GazeboDrone bridge)

[vshraddha]

Hello,

I’m experimenting with the GazeboDrone bridge where I use Gazebo as the external physics engine and AirSim/Unreal for visuals.
In Gazebo, collisions are working correctly — when my drone hits a box, it collides and stops as expected.
In AirSim, I can also see the collision event is triggered, but visually the drone passes through the box object I placed in the Unreal environment.

So effectively:

Physics → handled by Gazebo (correct)
Visuals → AirSim shows overlap, the drone goes inside the box mesh instead of stopping at the surface

My questions are:

1. How can I make AirSim visuals match the Gazebo collision boundaries?

2. Do I need to explicitly sync the collision mesh/size between Gazebo and Unreal objects?