Update to Bridges

2026-01-01 01:08:30 +00:00
parent 2b01f636fe
commit 4b44c3de91
9 changed files with 578 additions and 324 deletions
--- a/docs/architecture.md
+++ b/docs/architecture.md
@@ -4,113 +4,107 @@ GPS-denied drone landing simulation with multiple operation modes.

 ## Operation Modes

-### Standalone Mode (Windows/Simple)
+### 1. Standalone Mode (Any Platform)

-All-in-one simulation - no ROS 2 or external dependencies:
+Single-process simulation - no ROS 2 or networking required:

 ```
 ┌────────────────────────────────────────┐
 │      standalone_simulation.py          │
 │  ┌──────────────────────────────────┐  │
-│  │  PyBullet Physics Engine         │  │
-│  │  ┌────────┐  ┌────────────────┐  │  │
-│  │  │ Drone  │  │ Landing Pad    │  │  │
-│  │  └────────┘  └────────────────┘  │  │
-│  ├──────────────────────────────────┤  │
-│  │  Built-in Controller             │  │
-│  │  • Landing algorithm             │  │
-│  │  • Rover movement patterns       │  │
+│  │  PyBullet Physics + Camera       │  │
+│  │  Built-in Landing Controller     │  │
+│  │  Rover Movement Patterns         │  │
 │  └──────────────────────────────────┘  │
 └────────────────────────────────────────┘
 ```

-### Full Mode (Linux + ROS 2)
-
-Modular architecture for development and testing:
+### 2. PyBullet + ROS 2 Mode (2 Terminals)

 ```
-┌─────────────────────────────────────────────────────────────────────────┐
-│                         Simulation System                               │
-├─────────────────────────────────────────────────────────────────────────┤
-│                                                                         │
-│  ┌──────────────────┐                    ┌──────────────────────────┐   │
-│  │ simulation_host  │◄── UDP:5555 ──────►│    ros_bridge.py         │   │
-│  │   (PyBullet)     │                    │    (UDP ↔ ROS Bridge)    │   │
-│  └──────────────────┘                    └────────────┬─────────────┘   │
-│          OR                                           │                 │
-│  ┌──────────────────┐                    ┌────────────┴─────────────┐   │
-│  │     Gazebo       │◄── ROS Topics ────►│    gazebo_bridge.py      │   │
-│  │   (Linux only)   │                    │    (Gazebo ↔ ROS Bridge) │   │
-│  └──────────────────┘                    └────────────┬─────────────┘   │
-│                                                       │                 │
-│                                          ┌────────────▼─────────────┐   │
-│                                          │    controllers.py        │   │
-│                                          │  ┌─────────────────────┐ │   │
-│                                          │  │  DroneController    │ │   │
-│                                          │  │  RoverController    │ │   │
-│                                          │  └─────────────────────┘ │   │
-│                                          └──────────────────────────┘   │
-└─────────────────────────────────────────────────────────────────────────┘
+Terminal 1                    Terminal 2
+┌──────────────────┐         ┌──────────────────────────┐
+│ simulation_host  │◄─UDP───►│      run_bridge.py       │
+│   (PyBullet)     │         │  ┌────────────────────┐  │
+│   Port 5555      │         │  │ ROS2SimulatorBridge│  │
+│                  │         │  │ DroneController    │  │
+│                  │         │  │ RoverController    │  │
+└──────────────────┘         │  └────────────────────┘  │
+                             └──────────────────────────┘
+```
+
+### 3. Gazebo + ROS 2 Mode (2 Terminals, Linux Only)
+
+```
+Terminal 1                    Terminal 2
+┌──────────────────┐         ┌──────────────────────────┐
+│     Gazebo       │◄─ROS───►│      run_gazebo.py       │
+│  (gz sim ...)    │         │  ┌────────────────────┐  │
+│                  │         │  │ GazeboBridge       │  │
+│                  │         │  │ DroneController    │  │
+│                  │         │  │ RoverController    │  │
+└──────────────────┘         │  └────────────────────┘  │
+                             └──────────────────────────┘
 ```

 ## Components

-### Standalone
+| File | Description |
+|------|-------------|
+| `standalone_simulation.py` | All-in-one simulation |
+| `simulation_host.py` | PyBullet physics server (UDP) |
+| `run_bridge.py` | PyBullet bridge + controllers |
+| `run_gazebo.py` | Gazebo bridge + controllers |
+| `drone_controller.py` | Landing algorithm |
+| `rover_controller.py` | Moving landing pad |

-| Component | Description |
-|-----------|-------------|
-| **standalone_simulation.py** | Complete simulation with built-in controller |
+## ROS Topics

-### Full Mode
+| Topic | Type | Description |
+|-------|------|-------------|
+| `/cmd_vel` | `Twist` | Drone velocity commands |
+| `/drone/telemetry` | `String` | GPS-denied sensor data |
+| `/rover/telemetry` | `String` | Rover position (internal) |

-| Component | Description |
-|-----------|-------------|
-| **PyBullet** (`simulation_host.py`) | Physics engine, UDP networking, camera |
-| **Gazebo** | Full robotics simulator (Linux only) |
-| **ros_bridge.py** | Connects PyBullet ↔ ROS 2 via UDP |
-| **gazebo_bridge.py** | Connects Gazebo ↔ ROS 2 |
-| **controllers.py** | Runs drone + rover controllers |
-| **drone_controller.py** | GPS-denied landing logic |
-| **rover_controller.py** | Moving landing pad patterns |
+## Network Configuration

-## ROS Topics (Full Mode)
+All components default to `0.0.0.0` for network accessibility.

-| Topic | Type | Publisher | Subscriber |
-|-------|------|-----------|------------|
-| `/cmd_vel` | `Twist` | DroneController | Bridge |
-| `/drone/telemetry` | `String` | Bridge | DroneController |
-| `/rover/telemetry` | `String` | RoverController | DroneController |
+### Remote Setup

-## GPS-Denied Sensor Flow
-
-```
-Simulator                Bridge                  DroneController
-    │                       │                          │
-    │  Render Camera        │                          │
-    │  Compute Physics      │                          │
-    │──────────────────────►│                          │
-    │                       │  GPS-Denied Sensors:     │
-    │                       │  - IMU                   │
-    │                       │  - Altimeter             │
-    │                       │  - Velocity              │
-    │                       │  - Camera Image          │
-    │                       │  - Landing Pad Detection │
-    │                       │─────────────────────────►│
-    │                       │      /cmd_vel            │
-    │◄──────────────────────│◄─────────────────────────│
+**Machine 1 (with display):**
+```bash
+python simulation_host.py  # Listens on 0.0.0.0:5555
 ```

-## Platform Support
+**Machine 2 (headless controller):**
+```bash
+python run_bridge.py --host 192.168.1.100
+```

-| Mode | Windows | Linux | macOS |
-|------|---------|-------|-------|
-| Standalone | ✅ | ✅ | ✅ |
-| Full (ROS 2) | ⚠️ | ✅ | ⚠️ |
-| Gazebo | ❌ | ✅ | ❌ |
-
-## UDP Protocol (Full Mode)
+### UDP Ports

 | Port | Direction | Content |
 |------|-----------|---------|
-| 5555 | Bridge → Simulator | Command JSON |
-| 5556 | Simulator → Bridge | Telemetry JSON |
+| 5555 | Bridge → Simulator | Commands |
+| 5556 | Simulator → Bridge | Telemetry |
+
+## GPS-Denied Sensors
+
+All modes provide the same sensor data:
+
+| Sensor | Data |
+|--------|------|
+| IMU | Orientation, angular velocity |
+| Altimeter | Altitude, vertical velocity |
+| Velocity | Estimated from optical flow |
+| Camera | 320x240 downward JPEG |
+| Landing Pad | Relative position (when visible) |
+
+## Platform Support
+
+| Mode | Ubuntu | Arch | macOS | Windows | WSL2 |
+|------|--------|------|-------|---------|------|
+| Standalone | ✅ | ✅ | ✅ | ✅ | ✅ |
+| PyBullet+ROS | ✅ | ⚠️ | ❌ | ❌ | ✅ |
+| Gazebo+ROS | ✅ | ⚠️ | ❌ | ❌ | ✅ |