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microsoft / AirSim

Open source simulator for autonomous vehicles built on Unreal Engine / Unity, from Microsoft AI & Research
https://microsoft.github.io/AirSim/
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AirSim Unity crashes when adding Lidar sensor #4712

Open Dankrupt opened 1 year ago

Dankrupt commented 1 year ago

Question

Whenever I add a lidar sensor in settings.json, the simulator (and Unity) crashes when I try to run it, is this a known issue?

Adding other sensors works without any problems and I can control the drone with QGroundControl through PX4, but the moment I try to add a lidar it breaks. My lidar settings are quite empty right now, however I have already tried changing stuff there, but this also did not make a difference.

Context details

I'm on Ubuntu 18.04 with Unity version 2021.3.10f1. I know the recommended Unity version is 2019.3.12, however due to an unrelated issue with Unity itself, I cannot open projects in the 2019 version. I've tried both the latest release from AirSim and v1.6 to see if that would make a difference, but alas. Attached you'll find my settings.json (converted to .txt as i couldn't upload a .json).

Any help or tips would be greatly appreciated! settings.txt

abtraore commented 1 year ago

Question

Whenever I add a lidar sensor in settings.json, the simulator (and Unity) crashes when I try to run it, is this a known issue?

Adding other sensors works without any problems and I can control the drone with QGroundControl through PX4, but the moment I try to add a lidar it breaks. My lidar settings are quite empty right now, however I have already tried changing stuff there, but this also did not make a difference.

Context details

I'm on Ubuntu 18.04 with Unity version 2021.3.10f1. I know the recommended Unity version is 2019.3.12, however due to an unrelated issue with Unity itself, I cannot open projects in the 2019 version. I've tried both the latest release from AirSim and v1.6 to see if that would make a difference, but alas. Attached you'll find my settings.json (converted to .txt as i couldn't upload a .json).

Any help or tips would be greatly appreciated! settings.txt

Lidar sensor in unity doesn't work (yet I guess) you can check the status here : unity_api_support.md

sandilyasg commented 7 months ago

@abtraore @Dankrupt I removed the "LidarCustom" sensor in the settings.json file for the single drone with monocular and depth cameras, and lidar AirSim ROS Tutorials example. However, when I run airsim_node.launch I get the error "Error: TF_NAN_INPUT: Ignoring transform for child_frame_id "front_right_custom_optical" from authority "unknown_publisher" because of a nan value in the transform (0.000000 0.000000 0.000000) (-nan -nan -nan -nan)". How did you solve this? I get the same error for the Two drones, with cameras, lidar, IMU each example after removing the Lidar sensor.