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@@ -4,51 +4,83 @@ A GPS-denied drone landing simulation using relative sensors (IMU, altimeter, ca
## Quick Start
```bash
# Install (choose your platform)
./setup/install_ubuntu.sh # Ubuntu/Debian
./setup/install_arch.sh # Arch Linux
./setup/install_macos.sh # macOS
.\setup\install_windows.ps1 # Windows (PowerShell)
### Standalone Mode (Any Platform)
# Activate and run
source activate.sh # Linux/macOS
. .\activate.ps1 # Windows
```bash
source activate.sh # Linux/macOS
. .\activate.ps1 # Windows
python standalone_simulation.py --pattern circular --speed 0.3
```
### Two-Terminal Mode - PyBullet (with ROS 2)
**Terminal 1 - Simulator:**
```bash
python simulation_host.py
```
**Terminal 2 - Bridge + Controllers:**
```bash
python run_bridge.py --pattern circular --speed 0.3
```
### Two-Terminal Mode - Gazebo (Linux only)
**Terminal 1 - Gazebo:**
```bash
gz sim gazebo/worlds/drone_landing.sdf
```
**Terminal 2 - Bridge + Controllers:**
```bash
python run_gazebo.py --pattern circular --speed 0.3
```
That's it! Only 2 terminals needed.
## Installation
| Platform | Command |
|----------|---------|
| Ubuntu/Debian | `./setup/install_ubuntu.sh` |
| Arch Linux | `./setup/install_arch.sh` |
| macOS | `./setup/install_macos.sh` |
| Windows | `.\setup\install_windows.ps1` |
## Platform Compatibility
| Feature | Ubuntu | Arch | macOS | Windows |
|---------|--------|------|-------|---------|
| Standalone | ✅ | ✅ | ✅ | ✅ |
| ROS 2 | ✅ | ⚠️ | ❌ | ❌ |
| Gazebo | ✅ | ⚠️ | ❌ | ❌ |
**All platforms support standalone mode** - no ROS 2 required!
| Feature | Ubuntu | Arch | macOS | Windows | WSL2 |
|---------|--------|------|-------|---------|------|
| Standalone | ✅ | ✅ | ✅ | ✅ | ✅ |
| ROS 2 Mode | ✅ | ⚠️ | ❌ | ❌ | ✅ |
| Gazebo | ✅ | ⚠️ | ❌ | ❌ | ✅ |
## Files
| File | Description |
|------|-------------|
| `standalone_simulation.py` | **All-in-one simulation (no ROS 2)** |
| `simulation_host.py` | PyBullet simulator (ROS 2 mode) |
| `ros_bridge.py` | UDP ↔ ROS 2 bridge |
| `gazebo_bridge.py` | Gazebo ↔ ROS 2 bridge |
| `controllers.py` | Runs drone + rover controllers |
| `standalone_simulation.py` | All-in-one (no ROS 2 required) |
| `simulation_host.py` | PyBullet simulator server |
| `run_bridge.py` | **PyBullet bridge + Controllers** |
| `run_gazebo.py` | **Gazebo bridge + Controllers** |
| `drone_controller.py` | Drone landing logic (edit this) |
| `rover_controller.py` | Moving landing pad |
## Controller Options
## Options
```bash
python standalone_simulation.py --help
# Standalone
python standalone_simulation.py --pattern circular --speed 0.3
# ROS 2 mode
python run_bridge.py --pattern circular --speed 0.3 --host <SIMULATOR_IP>
Options:
--pattern, -p stationary, linear, circular, square
--pattern, -p stationary, linear, circular, square, random
--speed, -s Speed in m/s (default: 0.5)
--amplitude, -a Amplitude in meters (default: 2.0)
--host, -H Simulator IP (default: 0.0.0.0)
```
## GPS-Denied Sensors
@@ -65,16 +97,21 @@ Options:
| Document | Description |
|----------|-------------|
| [Installation](docs/installation.md) | All platform setup guides |
| [Installation](docs/installation.md) | Platform setup guides + WSL2 |
| [Architecture](docs/architecture.md) | System components |
| [Protocol](docs/protocol.md) | Sensor data formats |
| [Drone Guide](docs/drone_guide.md) | Landing algorithm guide |
| [PyBullet](docs/pybullet.md) | PyBullet setup |
| [Gazebo](docs/gazebo.md) | Gazebo setup (Linux) |
## Getting Started
## Network Setup (Remote Simulator)
1. Run `python standalone_simulation.py`
2. Watch the drone land automatically
3. Edit `drone_controller.py` to implement your own algorithm
4. Test: `python standalone_simulation.py --pattern circular`
Run simulator on one machine, controllers on another:
**Machine 1 (with display):**
```bash
python simulation_host.py # Listens on 0.0.0.0:5555
```
**Machine 2 (headless):**
```bash
python run_bridge.py --host 192.168.1.100 # Connect to Machine 1
```