moving to an impossible location breaks further calls to ROS services

[zimmy87]

Bug report

• AirSim Version/#commit: master
• UE/Unity version: 4.25.4
• autopilot version: n/a
• OS Version: Windows 10 / WSL2 (Ubuntu 20.04)

What's the issue you encountered?

If you call the /airsim_node/local_position_goal ROS service with a position underground such that the drone cannot ever reach it, any further calls to the service will fail and the drone will be stuck trying to move to the original impossible goal.

Settings

follow configuration described here

How can the issue be reproduced?

1. apply fix ROS topic names #3880
2. follow repro steps in How to call ros service #3805
3. call the /airsim_node/local_position_goal ROS service again with a valid location, i.e. rosservice call /airsim_node/local_position_goal 0 0 -- -5 2 drone_1

Include full error message in text form

What's better than filing an issue? Filing a pull request :).

[leoborgnino]

Hi!

I think with topic "/airsim_node/local_position_goal/override" you can change the goal and get over the problem.

However, I think that could be added a check for unsupported positions in local_position_goal_srv_cb ( I don't know if a position underground would be required in some case, I don't think so ).