[Bug] Town10HD 人行天桥下方飞行时无人机被卡到天桥上方 / Drone snaps to top of pedestrian overpass when flying underneath in Town10HD
Environment
- CarlaAir version: v0.1.7
- OS: Ubuntu 22.04 (Linux 5.15.0-181-generic)
- Python version: 3.10.20 (conda env:
carlaAir)
- GPU: NVIDIA RTX 4060 8GB
- Installation method: Binary
Description
中文
在 Town10HD 地图中，使用内置 FPS 无人机控制（WASD + Space/Shift）从人行天桥下方穿行时，无人机会异常地被"吸附"或卡住到天桥上方，无法继续从桥下正常通过。
该问题在视觉上看像是无人机试图从桥下飞过，但碰撞体或物理系统将无人机推到了天桥顶面，导致飞行路径被阻断、位置突变，影响手动飞行与传感器采集（如 ROS 双目鱼眼 + LiDAR 发布）的连续性。
English
In the Town10HD map, when using the built-in FPS drone controls (WASD + Space/Shift) to fly under a pedestrian overpass, the drone is abnormally snapped or stuck onto the top of the overpass instead of passing through underneath.
Visually, the drone appears to be attempting to fly below the bridge, but the collision mesh or physics system pushes it onto the bridge deck, blocking the intended path and causing abrupt position changes. This disrupts manual flight and sensor data collection (e.g., ROS stereo fisheye + LiDAR publishing).
Steps to Reproduce
- Launch CarlaAir with
./CarlaAir.sh Town10HD
- Wait until the UE4 window is ready and FPS drone control is active
- Fly the drone toward a pedestrian overpass in Town10HD (人行天桥)
- Position the camera/view so the drone approaches from below the overpass deck
- Continue flying forward (W) to pass through the space under the bridge
- (Optional) Run
./launch_drone_ros.sh start and observe whether LiDAR/camera data also show discontinuous motion during the stuck event
Expected Behavior
中文
无人机应能从人行天桥下方无障碍穿过，保持平稳的低于桥面的飞行高度与轨迹，不发生位置跳变或被推到桥面上方。
English
The drone should pass smoothly under the pedestrian overpass without obstruction, maintaining a stable altitude below the bridge deck, with no position snapping or being pushed onto the top surface.
Actual Behavior
中文
当无人机从天桥下方接近并尝试穿过时，会被卡住并"弹"到或吸附到天桥上方桥面，无法从桥下继续前进。需要手动调整高度或绕飞才能脱离，飞行体验与数据采集均受影响。
English
As the drone approaches and attempts to pass under the overpass, it gets stuck and is snapped or pushed onto the top of the bridge deck, preventing forward movement along the intended under-bridge path. Manual altitude adjustment or detouring is required to recover, affecting both flight control and data collection.
Suggested labels
bug · Town10HD · drone · collision · physics
[Bug] Town10HD 人行天桥下方飞行时无人机被卡到天桥上方 / Drone snaps to top of pedestrian overpass when flying underneath in Town10HD
Environment
carlaAir)Description
中文
在 Town10HD 地图中，使用内置 FPS 无人机控制（WASD + Space/Shift）从人行天桥下方穿行时，无人机会异常地被"吸附"或卡住到天桥上方，无法继续从桥下正常通过。
该问题在视觉上看像是无人机试图从桥下飞过，但碰撞体或物理系统将无人机推到了天桥顶面，导致飞行路径被阻断、位置突变，影响手动飞行与传感器采集（如 ROS 双目鱼眼 + LiDAR 发布）的连续性。
English
In the Town10HD map, when using the built-in FPS drone controls (WASD + Space/Shift) to fly under a pedestrian overpass, the drone is abnormally snapped or stuck onto the top of the overpass instead of passing through underneath.
Visually, the drone appears to be attempting to fly below the bridge, but the collision mesh or physics system pushes it onto the bridge deck, blocking the intended path and causing abrupt position changes. This disrupts manual flight and sensor data collection (e.g., ROS stereo fisheye + LiDAR publishing).
Steps to Reproduce
./CarlaAir.sh Town10HD./launch_drone_ros.sh startand observe whether LiDAR/camera data also show discontinuous motion during the stuck eventExpected Behavior
中文
无人机应能从人行天桥下方无障碍穿过，保持平稳的低于桥面的飞行高度与轨迹，不发生位置跳变或被推到桥面上方。
English
The drone should pass smoothly under the pedestrian overpass without obstruction, maintaining a stable altitude below the bridge deck, with no position snapping or being pushed onto the top surface.
Actual Behavior
中文
当无人机从天桥下方接近并尝试穿过时，会被卡住并"弹"到或吸附到天桥上方桥面，无法从桥下继续前进。需要手动调整高度或绕飞才能脱离，飞行体验与数据采集均受影响。
English
As the drone approaches and attempts to pass under the overpass, it gets stuck and is snapped or pushed onto the top of the bridge deck, preventing forward movement along the intended under-bridge path. Manual altitude adjustment or detouring is required to recover, affecting both flight control and data collection.
Suggested labels
bug·Town10HD·drone·collision·physics