Ardupilot Install Script Fix 2

docs/ardupilot.md

@@ -2,17 +2,16 @@
 
 Run the simulation with a realistic ArduPilot flight controller.
 
-## Quick Start
+## Quick Start (2 Terminals)
 
-**Terminal 1 - Simulation:**
+**Terminal 1 - Gazebo:**
 ```bash
-source ~/ardu_ws/install/setup.bash
-ros2 launch ardupilot_gz_bringup iris_runway.launch.py
+gz sim -v4 -r ~/ardupilot_gazebo/worlds/iris_runway.sdf
 ```
 
-**Terminal 2 - Control:**
+**Terminal 2 - SITL + MAVProxy:**
 ```bash
-mavproxy.py --console --map --master=:14550
+sim_vehicle.py -v ArduCopter -f gazebo-iris --model JSON --console
 ```
 
 ## Installation
@@ -23,79 +22,81 @@ source ~/.bashrc
 ```
 
 This installs:
-- ArduPilot SITL with DDS
-- Gazebo with ardupilot_gz
+- ArduPilot SITL
+- Gazebo Harmonic
+- ardupilot_gazebo plugin
 - MAVProxy
 
 ## MAVProxy Commands
 
+Once `sim_vehicle.py` is running:
+
 ```bash
-# Set mode
+# Set GUIDED mode
 mode guided
 
 # Arm
 arm throttle
 
-# Takeoff
+# Takeoff to 5m
 takeoff 5
 
 # Land
 mode land
+
+# Disarm
+disarm
 ```
 
-## ROS 2 Topics
-
-ArduPilot publishes native ROS 2 topics:
-
-```bash
-# List topics
-ros2 topic list
-
-# View position
-ros2 topic echo /ap/geopose/filtered
-
-# View battery
-ros2 topic echo /ap/battery
-```
-
-| Topic | Type |
-|-------|------|
-| `/ap/pose/filtered` | PoseStamped |
-| `/ap/twist/filtered` | TwistStamped |
-| `/ap/imu/filtered` | Imu |
-| `/ap/battery` | BatteryState |
-
 ## Available Worlds
 
 ```bash
 # Iris on runway
-ros2 launch ardupilot_gz_bringup iris_runway.launch.py
+gz sim -v4 -r ~/ardupilot_gazebo/worlds/iris_runway.sdf
 
-# Iris in maze
-ros2 launch ardupilot_gz_bringup iris_maze.launch.py
-
-# Rover
-ros2 launch ardupilot_gz_bringup wildthumper_playpen.launch.py
+# Zephyr plane
+gz sim -v4 -r ~/ardupilot_gazebo/worlds/zephyr_runway.sdf
 ```
 
-## Using the Launcher
+## Standalone SITL (No Gazebo)
 
 ```bash
-python run_ardupilot.py --world runway
-python run_ardupilot.py --world maze
-python run_ardupilot.py --vehicle rover
+sim_vehicle.py -v ArduCopter --console --map
 ```
 
+This opens a 2D map view for testing without Gazebo.
+
+## How It Works
+
+```
+Gazebo                    ArduPilot SITL
+┌─────────────────┐      ┌─────────────────┐
+│ iris_runway.sdf │◄────►│ sim_vehicle.py  │
+│ + ArduPilot     │ JSON │ + MAVProxy      │
+│   Plugin        │ UDP  │                 │
+└─────────────────┘      └─────────────────┘
+                              │
+                              ▼ MAVLink
+                         Your Controller
+```
+
+The ArduPilot Gazebo plugin communicates with SITL via JSON over UDP.
+
 ## Troubleshooting
 
-**No ROS 2 topics:**
+**sim_vehicle.py not found:**
 ```bash
-# Check DDS is enabled
-param set DDS_ENABLE 1
+export PATH=$PATH:~/ardupilot/Tools/autotest
+```
+
+**Plugin not loading:**
+```bash
+export GZ_SIM_SYSTEM_PLUGIN_PATH=~/ardupilot_gazebo/build:$GZ_SIM_SYSTEM_PLUGIN_PATH
+export GZ_SIM_RESOURCE_PATH=~/ardupilot_gazebo/models:~/ardupilot_gazebo/worlds:$GZ_SIM_RESOURCE_PATH
 ```
 
 **Can't arm:**
 ```bash
-# Disable pre-arm checks (simulation only)
+# In MAVProxy, disable pre-arm checks
 param set ARMING_CHECK 0
 ```