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Gazebo Bridge Rover Update

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2026-01-02 06:41:11 +00:00
parent de156dfbdb
commit 1bbd9c8377
3 changed files with 99 additions and 12 deletions
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21
docs/installation.md
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@@ -239,6 +239,27 @@ ign gazebo --version # Fortress (ROS 2 Humble)
**Note:** ROS 2 Humble uses Gazebo Fortress, which uses `ign gazebo` command instead of `gz sim`. The launch file auto-detects which command is available.
**Gazebo GPU Issues in WSL2:**
If Gazebo crashes with GPU/OpenGL errors, try:
```bash
# Option 1: Run in server mode (no GUI)
ign gazebo -s gazebo/worlds/drone_landing.sdf
# Option 2: Fix permissions and restart WSL
sudo usermod -aG render $USER
chmod 700 /run/user/1000
# Then in PowerShell: wsl --shutdown
# Option 3: Force software rendering
export LIBGL_ALWAYS_SOFTWARE=1
ign gazebo gazebo/worlds/drone_landing.sdf
# Option 4: Just use PyBullet (more reliable on WSL2)
python standalone_simulation.py
```
**Troubleshooting WSL GUI:**
If GUI doesn't work:

35
gazebo/worlds/drone_landing.sdf
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@@ -1,10 +1,10 @@
<?xml version="1.0" ?>
<!--
Drone Landing Competition - Gazebo World
Drone Landing Simulation - Gazebo World
This world contains:
- Ground plane with grid texture
- Landing pad (rover) at origin
- Landing pad (rover) at origin - can be moved via pose commands
- Drone spawned at 5m altitude
- Sun for lighting
-->
@@ -18,13 +18,13 @@
</physics>
<!-- Required plugins -->
<plugin filename="gz-sim-physics-system" name="gz::sim::systems::Physics"/>
<plugin filename="gz-sim-user-commands-system" name="gz::sim::systems::UserCommands"/>
<plugin filename="gz-sim-scene-broadcaster-system" name="gz::sim::systems::SceneBroadcaster"/>
<plugin filename="gz-sim-sensors-system" name="gz::sim::systems::Sensors">
<plugin filename="ignition-gazebo-physics-system" name="ignition::gazebo::systems::Physics"/>
<plugin filename="ignition-gazebo-user-commands-system" name="ignition::gazebo::systems::UserCommands"/>
<plugin filename="ignition-gazebo-scene-broadcaster-system" name="ignition::gazebo::systems::SceneBroadcaster"/>
<plugin filename="ignition-gazebo-sensors-system" name="ignition::gazebo::systems::Sensors">
<render_engine>ogre2</render_engine>
</plugin>
<plugin filename="gz-sim-imu-system" name="gz::sim::systems::Imu"/>
<plugin filename="ignition-gazebo-imu-system" name="ignition::gazebo::systems::Imu"/>
<!-- Lighting -->
<light type="directional" name="sun">
@@ -69,11 +69,28 @@
</link>
</model>
<!-- Landing Pad (Rover) -->
<!-- Landing Pad (Rover) - Non-static so it can be moved -->
<model name="landing_pad">
<static>true</static>
<static>false</static>
<pose>0 0 0.15 0 0 0</pose>
<!-- Pose publisher to track position -->
<plugin filename="ignition-gazebo-pose-publisher-system" name="ignition::gazebo::systems::PosePublisher">
<publish_link_pose>false</publish_link_pose>
<publish_model_pose>true</publish_model_pose>
<publish_nested_model_pose>false</publish_nested_model_pose>
<update_frequency>50</update_frequency>
</plugin>
<link name="base_link">
<inertial>
<mass>100.0</mass>
<inertia>
<ixx>10.0</ixx>
<iyy>10.0</iyy>
<izz>10.0</izz>
</inertia>
</inertial>
<collision name="collision">
<geometry>
<box>

55
gazebo_bridge.py
View File

@@ -1,19 +1,22 @@
#!/usr/bin/env python3
"""
Gazebo Bridge - GPS-denied interface with camera.
Gazebo Bridge - GPS-denied interface with camera and rover control.
Provides sensor data: IMU, altimeter, camera image.
Controls rover movement via Gazebo pose commands.
"""
import base64
import json
import math
import subprocess
import threading
from typing import Optional, Dict, Any
import numpy as np
import rclpy
from rclpy.node import Node
from rclpy.qos import QoSProfile, ReliabilityPolicy
from geometry_msgs.msg import Twist
from geometry_msgs.msg import Twist, Pose
from nav_msgs.msg import Odometry
from sensor_msgs.msg import Image
from std_msgs.msg import String
@@ -41,6 +44,11 @@ class GazeboBridge(Node):
self._drone_pos = [0.0, 0.0, 5.0]
self._drone_orn = [0.0, 0.0, 0.0, 1.0]
# Detect gz vs ign command
import shutil
self._gz_cmd = 'gz' if shutil.which('gz') else 'ign'
self.get_logger().info(f' Using Gazebo command: {self._gz_cmd}')
sensor_qos = QoSProfile(
reliability=ReliabilityPolicy.BEST_EFFORT,
depth=10
@@ -87,17 +95,58 @@ class GazeboBridge(Node):
self._gz_cmd_vel_pub.publish(gz_msg)
def _rover_callback(self, msg: String) -> None:
"""Receive rover position and update in Gazebo."""
try:
data = json.loads(msg.data)
pos = data.get('position', {})
self._rover_pos = [
new_pos = [
pos.get('x', 0.0),
pos.get('y', 0.0),
pos.get('z', 0.15)
]
# Only update if position changed significantly
if (abs(new_pos[0] - self._rover_pos[0]) > 0.01 or
abs(new_pos[1] - self._rover_pos[1]) > 0.01):
self._rover_pos = new_pos
# Move rover in Gazebo (async to avoid blocking)
threading.Thread(target=self._move_rover_in_gazebo, daemon=True).start()
except json.JSONDecodeError:
pass
def _move_rover_in_gazebo(self) -> None:
"""Send pose command to Gazebo to move the landing pad."""
try:
x, y, z = self._rover_pos
# Use Gazebo service to set model pose
if self._gz_cmd == 'ign':
# Ignition Gazebo (Fortress)
cmd = [
'ign', 'service', '-s', '/world/drone_landing_world/set_pose',
'--reqtype', 'ignition.msgs.Pose',
'--reptype', 'ignition.msgs.Boolean',
'--timeout', '100',
'--req', f'name: "landing_pad", position: {{x: {x}, y: {y}, z: {z}}}'
]
else:
# Newer Gazebo
cmd = [
'gz', 'service', '-s', '/world/drone_landing_world/set_pose',
'--reqtype', 'gz.msgs.Pose',
'--reptype', 'gz.msgs.Boolean',
'--timeout', '100',
'--req', f'name: "landing_pad", position: {{x: {x}, y: {y}, z: {z}}}'
]
subprocess.run(cmd, capture_output=True, timeout=1.0)
except subprocess.TimeoutExpired:
pass
except Exception as e:
pass # Silently ignore errors to avoid spam
def _camera_callback(self, msg: Image) -> None:
"""Process camera images and encode as base64."""
try: