reset问题

[xd1002]

请问xtdrone有提供重设无人机的位姿、速度的rostopic或rosservice或gazebo plugin吗？以及有无碰撞检测功能（就是在和环境障碍物或别的智能体碰撞后能接收到True或者False的rostopic或rosservice或gazebo plugin）

[petertheprocess]

• You can use "/gazebo/set_model_state" provided by gazebo_ros pkg to reset the uavs' states, however it may cause some issues when runing with PX4 SITL. https://www.yuque.com/xtdrone/manual_cn/accelerate_sim
• For the collision detecting issue, you can use the “gazebo_ros_bumper” plugin, which is also provided by gazebo_ros pkg.

[xd1002]

• You can use "/gazebo/set_model_state" provided by gazebo_ros pkg to reset the uavs' states, however it may cause some issues when runing with PX4 SITL. https://www.yuque.com/xtdrone/manual_cn/accelerate_sim
• For the collision detecting issue, you can use the “gazebo_ros_bumper” plugin, which is also provided by gazebo_ros pkg.

Thanks for your reply. I tried out these two suggestions last night, and the "gazebo_ros_bumper" plugin does really satisfy my need. However, during my running the codes in the tutorial https://www.yuque.com/xtdrone/manual_cn/accelerate_sim, I faced up with a strange problem. I got my desired result via the original control_gazebo_models.py code. But when I tried to command a specific velocity to the drone by modifying pose_msg.pose.position.x = 0; pose_msg.pose.position.y = 0; pose_msg.pose.position.z = 3 to pose_msg.twist.linear.x = 0; pose_msg.twist.linear.y = 0; pose_msg.twist.linear.z = 3 and ran the code, the base link of the drone(iris_stereo_camera) and its fan blades began to shake, and the fan blades was separated from the base link of the drone just like the picture below: In the meantime, Gazebo did not report any error Is it my missing some processes while running the codes in the tutorial? How can I fix it?

[petertheprocess]

It is not recommended to mix the dynamics process of the physics engine with your self-defined kinematics process. If u want to run the simulation just with your simplified dynamics or kinematics, u can follow this link https://answers.ros.org/question/218744/gazebo-disable-physics-or-enable-kinematics-through-codecommand-line/ to turn off the physics engine iteration.

However, turning off the physics may also influence the "gazebo_ros_bumper" plugin (I am not sure, u can just try.). If it is the case, u should write some code to detect the collision by yourself by judging the relative poses from each other (such as AABB algorithm, and OBB algorithm).

Good luck to u!