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DroneResponse / airsim-integration

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Handle Iris (no cam) gazebo drone messages from sender #29

Open JasonBrauer opened 1 year ago

JasonBrauer commented 1 year ago

Right now if Iris gazebo drones (no camera) spawned, then no messages are sent from the gazebo pose sender program. This is because the program is explicitly checking for a camera pose before sending any pose messages.

The print output is also mal-formatted because the Sent pose message never fires.

With typhoon_h480 (cam):

Sending pose messages to 127.0.0.1 on port 50000
Drone name: typhoon_h480_0, Drone id: 0
Drone Position: -0.000900, -0.001343, 0.246197
Drone Orientation: 0.999995, 0.000993, 0.002152, 0.002192
Camera Orientation: 0.999983, -0.002295, 0.005029, -0.001862
Sent pose for drone id: 0
Drone name: typhoon_h480_1, Drone id: 1
Drone Position: -0.000829, 1.000059, 0.245907
Drone Orientation: 0.999996, 0.001074, 0.002224, 0.001232
Camera Orientation: 0.999974, -0.001325, 0.006940, -0.001658
Sent pose for drone id: 1

With Iris (no cam):

Drone name: iris_1, Drone id: 0
Drone Position: -0.000000, 0.999905, 0.104402
Drone Orientation: 1.000000, 0.000856, -0.000000, -0.000000Drone name: iris_0, Drone id: 1
Drone Position: -0.000000, -0.000097, 0.104413
Drone Orientation: 1.000000, 0.000879, -0.000000, -0.000000

Ideally just the drone pose would be sent if no camera pose messages are streaming through.