Open
Description
Bug report
- AirSim Version/#commit: eda67e4 and v1.7
- UE/Unity version: 4.27.2
- autopilot version: n/a
- OS Version: Ubuntu 20.04.4
What's the issue you encountered?
When multiple vehicles (see settings.json below) specify a camera with the same name (e.g. "img0") ROS1's tf frame_ids become ambiguous i.e. only one of the drone has a transformation from itself to img0_body or img0_optical. However, all drones should have their own distinct transformation from their respective img0 frame to their NED frame.
Related PR #4478 fixes the same issue but for ROS2.
Related PR #4509 fixes this partially.
Screenshot of rqt_tf_tree, when camera frame_ids are ambiguous.
Screenshot of rqt_tf_tree, when camera frame_ids are distinct (e.g. by adding the vehicle_name to the frame_id):
Settings
settings.json
{
"SeeDocsAt": "https://github.com/Microsoft/AirSim/blob/master/docs/settings.md",
"SettingsVersion": 1.2,
"ClockSpeed": 0.2,
"SimMode": "Multirotor",
"PhysicsEngineName": "ExternalPhysicsEngine",
"ViewMode": "Manual",
"DefaultSensors": {
"imu_1": {
"SensorType": 2,
"Enabled" : true
}
},
"Vehicles": {
"drone_1": {
"VehicleType": "SimpleFlight",
"Cameras": {
"img0":{
"CaptureSettings": [
{
"ImageType": 0,
"Width": 1024,
"Height": 1024,
"FOV_Degrees": 90
}
],
"NoiseSettings": [
{
}
],
"X": 0.5, "Y": 0.0, "Z": 0.0,
"Pitch": 0, "Roll": 0, "Yaw": 0
}
},
"X": 0, "Y": 0, "Z": -1
},
"drone_2": {
"VehicleType": "SimpleFlight",
"Cameras": {
"img0":{
"CaptureSettings": [
{
"ImageType": 0,
"Width": 1024,
"Height": 1024,
"FOV_Degrees": 90
}
],
"NoiseSettings": [
{
}
],
"X": 0.5, "Y": 0.0, "Z": 0.0,
"Pitch": 0, "Roll": 0, "Yaw": 0
}
},
"X": 2.0, "Y": 2.0, "Z": -1
},
"drone_3": {
"VehicleType": "SimpleFlight",
"Cameras": {
"img0":{
"CaptureSettings": [
{
"ImageType": 0,
"Width": 1024,
"Height": 1024,
"FOV_Degrees": 90
}
],
"NoiseSettings": [
{
}
],
"X": 0.5, "Y": 0.0, "Z": 0.0,
"Pitch": 0, "Roll": 0, "Yaw": 0
}
},
"X": 2.0, "Y": 4.0, "Z": -1
}
},
"CameraDefaults": {
"CaptureSettings": [
{
"ImageType": 0,
"Width": 1024,
"Height": 1024,
"FOV_Degrees": 80
}
]
},
"SubWindows": [
{"WindowID": 0, "VehicleName": "drone_1", "ImageType": 0, "CameraName": "img0", "Visible": true},
{"WindowID": 1, "VehicleName": "drone_2", "ImageType": 0, "CameraName": "img0", "Visible": true},
{"WindowID": 2, "VehicleName": "drone_3", "ImageType": 0, "CameraName": "img0", "Visible": true}
],
"OriginGeopoint": {
"Latitude": 0.0,
"Longitude": 0.0,
"Altitude": 0.0
}
}
How can the issue be reproduced?
- Use above settings.json
- open Blocks environment
roslaunch airsim_ros_pkgs airsim_node.launch- Open either rviz, or rqt with the rqt_tf_tree plugin
Include full error message in text form
n/a
What's better than filing an issue? Filing a pull request :).