AirSim Blocks world walls are see-through, prevents obstacle avoidance from working

[erinline]

Bug report

• AirSim Version/#commit: 6688d27
• UE/Unity version: 4.27
• autopilot version: ArduPilot
• OS Version: Ubuntu 20.04

What's the issue you encountered?

I am testing autonomous flight in AirSim prior to fielded tests. I am now working on obstacle avoidance using depth imagery, but the AirSIm blocks are see-through once the drone is close enough (see screenshot).

Settings

{
    "SettingsVersion": 1.2,
    "LogMessagesVisible": true,
    "SimMode": "Multirotor",
    "ViewMode": "SpringArmChase",
    "OriginGeopoint": {
      "Latitude": -35.363261,
      "Longitude": 149.165230,
      "Altitude": 583
    },
    "Vehicles": {
      "Copter": {
        "VehicleType": "ArduCopter",
        "UseSerial": false,
        "LocalHostIp": "127.0.0.1",
        "UdpIp": "127.0.0.1",
        "UdpPort": 9003,
        "ControlPort": 9002,
        "AutoCreate": true,
        "Sensors": {
          "Imu": {
            "SensorType": 2,
            "Enabled": true
          },
          "Gps": {
            "SensorType": 3,
            "Enabled": true
          },
          "Lidar1": {
            "SensorType": 6,
            "Enabled": true,
            "NumberOfChannels": 1,
            "PointsPerSecond": 5000,
            "DrawDebugPoints": true,
            "RotationsPerSecond": 10,
            "VerticalFOVUpper": 0,
            "VerticalFOVLower": 0,
            "HorizontalFOVStart": 0,
            "HorizontalFOVEnd": 359,
            "DataFrame": "SensorLocalFrame",
            "ExternalController": true
          }
        },
        "Cameras": {
          "front_center_custom": {
            "CaptureSettings": [
              {
                "PublishToRos": 1,
                "ImageType": 0,
                "Width": 640,
                "Height": 480,
                "FOV_Degrees": 27,
                "DepthOfFieldFstop": 2.8,
                "DepthOfFieldFocalDistance": 200.0, 
                "DepthOfFieldFocalRegion": 200.0,
                "TargetGamma": 1.5
              }
            ],
            "X": 0.50, "Y": 0, "Z": 0.10,
            "Pitch": 0, "Roll": 0, "Yaw": 0
          },
          "front_left_custom": {
            "CaptureSettings": [
              {
                "PublishToRos": 1,
                "ImageType": 0,
                "Width": 672,
                "Height": 376,
                "FOV_Degrees": 90,
                "TargetGamma": 1.5
              }, 
              {
                "PublishToRos": 1,
                "ImageType": 1,
                "Width": 672,
                "Height": 376,
                "FOV_Degrees": 90,
                "TargetGamma": 1.5
              }
            ],
            "X": 0.50, "Y": 0.06, "Z": 0.10,
            "Pitch": 0.0, "Roll": 0.0, "Yaw": 0.0
          },
          "front_right_custom": {
            "CaptureSettings": [
              {
                "PublishToRos": 1,
                "ImageType": 0,
                "Width": 672,
                "Height": 376,
                "FOV_Degrees": 90,
                "TargetGamma": 1.5
              }
            ],
            "X": 0.50, "Y": -0.06, "Z": 0.10,
            "Pitch": 0.0, "Roll": 0.0, "Yaw": 0.0
          }
        }
      }
    },
    "SubWindows": [
      {"WindowID": 0, "ImageType": 0, "CameraName": "front_left_custom", "Visible": true},
      {"WindowID": 1, "ImageType": 0, "CameraName": "front_center_custom", "Visible": false},
      {"WindowID": 2, "ImageType": 0, "CameraName": "front_right_custom", "Visible": true}
    ]
}

How can the issue be reproduced?

1. Launch Unreal Blocks
2. Start ArduCopter in terminal with: ../Tools/autotest/sim_vehicle.py -v ArduCopter -f airsim-copter --add-param-file=../libraries/SITL/examples/Airsim/lidar.parm --console
3. Press play in Blocks
4. In ArduPilot terminal, send the following commands:
5. mode guided
6. arm throttle
7. takeoff 2
8. module load message
9. message SET_POSITION_TARGET_LOCAL_NED 0 0 0 9 3576 40 0 0 0 0 0 0 0 0 0 0
   The drone will fly straight forward and collide with the blocks directly in front, and you should see the cameras both showing the other side of the block wall.

Include full error message in text form

No error message.

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