Update to Bridges

docs/pybullet.md

@@ -2,25 +2,19 @@
 
 Running the GPS-denied drone simulation with PyBullet.
 
-## Windows (Standalone Mode)
+## Standalone Mode (Recommended)
 
-No ROS 2 required! Run the all-in-one simulation:
+No ROS 2 required! Single terminal:
 
-```powershell
-. .\activate.ps1
-python standalone_simulation.py
+```bash
+source activate.sh
+python standalone_simulation.py --pattern circular --speed 0.3
 ```
 
 ### Options
 
-```powershell
-# Stationary landing pad
-python standalone_simulation.py
-
-# Moving rover patterns
-python standalone_simulation.py --pattern circular --speed 0.3
-python standalone_simulation.py --pattern linear --speed 0.5
-python standalone_simulation.py --pattern square --speed 0.4
+```bash
+python standalone_simulation.py --help
 
 Options:
   --pattern, -p   stationary, linear, circular, square
@@ -28,11 +22,11 @@ Options:
   --amplitude, -a Movement amplitude in meters (default: 2.0)
 ```
 
-The simulation includes a built-in landing controller. Watch the drone automatically land on the rover!
-
 ---
 
-## Linux (Full ROS 2 Mode)
+## ROS 2 Mode (2 Terminals)
+
+For distributed or remote simulation:
 
 **Terminal 1 - Simulator:**
 ```bash
@@ -40,36 +34,49 @@ source activate.sh
 python simulation_host.py
 ```
 
-**Terminal 2 - ROS Bridge:**
+**Terminal 2 - Controllers:**
 ```bash
 source activate.sh
-python ros_bridge.py
-```
-
-**Terminal 3 - Controllers:**
-```bash
-source activate.sh
-python controllers.py --pattern circular --speed 0.3
+python run_bridge.py --pattern circular --speed 0.3
 ```
 
 ### Remote Setup
 
-Run simulator on one machine, controllers on another.
+Run simulator on one machine, controllers on another:
 
 **Machine 1 (with display):**
 ```bash
-python simulation_host.py
+python simulation_host.py  # Listens on 0.0.0.0:5555
 ```
 
 **Machine 2 (headless):**
 ```bash
-source activate.sh
-python ros_bridge.py --host <MACHINE_1_IP>
-python controllers.py
+python run_bridge.py --host 192.168.1.100 --pattern circular
 ```
 
 ---
 
+## Building Standalone Executable
+
+Create a distributable executable:
+
+```bash
+source activate.sh
+
+# Build standalone simulation (recommended)
+python build_exe.py
+
+# Build simulation_host
+python build_exe.py simulation_host
+
+# Build all
+python build_exe.py all
+```
+
+Executables are created in `dist/`.
+
+---
+
 ## Simulation Parameters
 
 | Parameter | Value |
@@ -77,7 +84,7 @@ python controllers.py
 | Physics Rate | 240 Hz |
 | Telemetry Rate | 24 Hz |
 | Drone Mass | 1.0 kg |
-| Gravity | -9.81 m/s² |
+| UDP Port | 5555 (commands), 5556 (telemetry) |
 
 ## GPS-Denied Sensors
 
@@ -89,40 +96,18 @@ python controllers.py
 | Camera | 320x240 downward JPEG image |
 | Landing Pad | Vision-based relative position |
 
-## Camera System
-
-| Property | Value |
-|----------|-------|
-| Resolution | 320 x 240 |
-| FOV | 60 degrees |
-| Format | Base64 encoded JPEG |
-| Direction | Downward-facing |
-
-## World Setup
-
-| Object | Position | Description |
-|--------|----------|-------------|
-| Ground | z = 0 | Infinite plane |
-| Rover | (0, 0, 0.15) | 1m × 1m landing pad |
-| Drone | (0, 0, 5) | Starting position |
-
-## Building Executable
-
-Create standalone executable:
-
-```bash
-source activate.sh
-python build_exe.py
-```
-
 ## Troubleshooting
 
 ### "Cannot connect to X server"
 
-PyBullet requires a display:
-- Run on machine with monitor
-- Use X11 forwarding: `ssh -X user@host`
-- Virtual display: `xvfb-run python simulation_host.py`
+PyBullet GUI requires a display:
+```bash
+# Use virtual display
+xvfb-run python standalone_simulation.py
+
+# Or use X11 forwarding
+ssh -X user@host
+```
 
 ### Drone flies erratically
 
@@ -134,7 +119,7 @@ Kd = 0.2
 
 ### Camera image not appearing
 
-Ensure PIL/Pillow is installed:
+Install Pillow:
 ```bash
 pip install pillow
 ```