Simple flight controller

[pabsan-0]

Hi! I'm trying to create a flying robot. For now, entirely disregarding physics and teleop control is what I'm aiming for. I've looked into the docs and apparently I should be able to do this using the base class RobotVehicleMovementController. Here's a pic of a simple robot body with this component:

I can move this around with the teleop, but I'm experiencing two issues:

• I cannot go up and down, but only move in the "floor" 2D plane
• There are no collisions and the robot drives through obstacles

Any hint on how to overcome these in a simple manner? Thanks in advance.

[yuokamoto]

Sorry for late response.
I'll check

[yuokamoto]

I found currently RObotvehicleMoveComponent support xyz and yaw

RapyutaSimulationPlugins/Source/RapyutaSimulationPlugins/Private/Drives/RobotVehicleMovementComponent.cpp

Line 118 in 9dce510

const FVector position = UpdatedComponent->ComponentVelocity * InDeltaTime;

• there is a logic to fit the kinematic robot to surface. you need to disable bAdaptToSurfaceBelow to avoid robot going down to fit surface. then robot can go up and down with twist msg.
  https://rapyutasimulationplugins.readthedocs.io/en/latest/doxygen_generated/html/d7/d01/class_u_robot_vehicle_movement_component.html#a0ca330f2cbe9d95c421f9b5d5a2d5970
• if you need roll and pitch control, I need to work on a little bit to make it work.