Obstacle Avoidance AirSim?

[hwadiadinkra]

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"/>

• 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.

[Thanmai01]

Got any Answers for this issue? I am also facing same error