Update to Bridges

run_bridge.py

@@ -0,0 +1,136 @@
+#!/usr/bin/env python3
+"""
+Run Bridge - Runs ROS bridge and controllers together.
+Connects to PyBullet simulator running on another machine or terminal.
+
+Usage: python run_bridge.py [--host HOST] [--pattern PATTERN] [--speed SPEED]
+"""
+
+import argparse
+import signal
+import sys
+
+import rclpy
+from rclpy.executors import MultiThreadedExecutor
+
+from ros_bridge import ROS2SimulatorBridge
+from drone_controller import DroneController
+from rover_controller import RoverController, MovementPattern
+
+
+def parse_args():
+    parser = argparse.ArgumentParser(
+        description='Run ROS bridge and controllers together',
+        formatter_class=argparse.RawDescriptionHelpFormatter,
+        epilog="""
+Examples:
+  python run_bridge.py                           # Connect to local simulator
+  python run_bridge.py --host 192.168.1.100      # Connect to remote simulator
+  python run_bridge.py --pattern circular        # With moving rover
+        """
+    )
+    parser.add_argument(
+        '--host', '-H', type=str, default='0.0.0.0',
+        help='Simulator host IP (default: 0.0.0.0)'
+    )
+    parser.add_argument(
+        '--port', '-p', type=int, default=5555,
+        help='Simulator port (default: 5555)'
+    )
+    parser.add_argument(
+        '--pattern', type=str, default='stationary',
+        choices=['stationary', 'linear', 'circular', 'random', 'square'],
+        help='Rover movement pattern (default: stationary)'
+    )
+    parser.add_argument(
+        '--speed', '-s', type=float, default=0.5,
+        help='Rover speed in m/s (default: 0.5)'
+    )
+    parser.add_argument(
+        '--amplitude', '-a', type=float, default=2.0,
+        help='Rover movement amplitude in meters (default: 2.0)'
+    )
+    parser.add_argument(
+        '--no-rover', action='store_true',
+        help='Disable rover controller'
+    )
+    args, _ = parser.parse_known_args()
+    return args
+
+
+def main():
+    args = parse_args()
+    
+    print("=" * 60)
+    print("  ROS Bridge + Controllers")
+    print("=" * 60)
+    print(f"  Simulator: {args.host}:{args.port}")
+    print(f"  Rover Pattern: {args.pattern}")
+    print(f"  Rover Speed: {args.speed} m/s")
+    print("=" * 60)
+    print()
+    
+    rclpy.init()
+    
+    nodes = []
+    executor = MultiThreadedExecutor(num_threads=4)
+    
+    try:
+        # Create bridge
+        bridge = ROS2SimulatorBridge(
+            simulator_host=args.host,
+            simulator_port=args.port
+        )
+        nodes.append(bridge)
+        executor.add_node(bridge)
+        print("[OK] ROS Bridge started")
+        
+        # Create drone controller
+        drone = DroneController()
+        nodes.append(drone)
+        executor.add_node(drone)
+        print("[OK] Drone Controller started")
+        
+        # Create rover controller (optional)
+        if not args.no_rover:
+            pattern = MovementPattern[args.pattern.upper()]
+            rover = RoverController(
+                pattern=pattern,
+                speed=args.speed,
+                amplitude=args.amplitude
+            )
+            nodes.append(rover)
+            executor.add_node(rover)
+            print("[OK] Rover Controller started")
+        
+        print()
+        print("All systems running. Press Ctrl+C to stop.")
+        print()
+        
+        # Handle Ctrl+C gracefully
+        def signal_handler(sig, frame):
+            print("\nShutting down...")
+            executor.shutdown()
+        
+        signal.signal(signal.SIGINT, signal_handler)
+        
+        executor.spin()
+        
+    except Exception as e:
+        print(f"Error: {e}")
+        raise
+    finally:
+        print("Cleaning up...")
+        for node in nodes:
+            if hasattr(node, 'shutdown'):
+                node.shutdown()
+            node.destroy_node()
+        
+        if rclpy.ok():
+            rclpy.shutdown()
+        
+        print("Shutdown complete.")
+
+
+if __name__ == '__main__':
+    main()