From 4b514f1dd91b0ebc3ff713affa5962118095e4b3 Mon Sep 17 00:00:00 2001
From: default <adithcool.5@gmail.com>
Date: Sun, 4 Jan 2026 01:59:30 +0000
Subject: [PATCH] run script Fixes 2

---
 README.md                    |  3 +-
 docs/ardupilot.md            | 67 ++++++++++++++++--------------------
 scripts/run_ardupilot_sim.sh | 35 ++++++++++++++-----
 3 files changed, 59 insertions(+), 46 deletions(-)

diff --git a/README.md b/README.md
index 62bcda2..8e611c4 100644
--- a/README.md
+++ b/README.md
@@ -29,7 +29,8 @@ python camera_viewer.py  # View camera
 
 **Terminal 1:**
 ```bash
-./scripts/run_ardupilot_sim.sh camera
+./scripts/run_ardupilot_sim.sh runway
+# Options: runway, warehouse, zephyr
 ```
 
 **Terminal 2:**
diff --git a/docs/ardupilot.md b/docs/ardupilot.md
index 671ddce..7e25597 100644
--- a/docs/ardupilot.md
+++ b/docs/ardupilot.md
@@ -6,7 +6,7 @@ Realistic flight controller simulation without GPS.
 
 **Terminal 1:**
 ```bash
-./scripts/run_ardupilot_sim.sh camera
+./scripts/run_ardupilot_sim.sh runway
 ```
 
 **Terminal 2:**
@@ -26,56 +26,40 @@ arm throttle force
 source ~/.bashrc
 ```
 
-Installs: ArduPilot SITL, Gazebo, ardupilot_gazebo plugin, MAVProxy
+## World Options
+
+```bash
+./scripts/run_ardupilot_sim.sh runway     # Iris on runway (default)
+./scripts/run_ardupilot_sim.sh warehouse  # Iris in warehouse
+./scripts/run_ardupilot_sim.sh zephyr     # Zephyr plane
+./scripts/run_ardupilot_sim.sh gimbal     # Gimbal test
+./scripts/run_ardupilot_sim.sh parachute  # Parachute test
+```
 
 ## GPS-Denied Configuration
 
 In MAVProxy console:
 
 ```bash
-# Disable all pre-arm checks
-param set ARMING_CHECK 0
-
-# GPS-free flight modes
-mode stabilize      # Manual with stabilization
-mode alt_hold       # Altitude hold
-mode guided_nogps   # Guided without GPS
+param set ARMING_CHECK 0   # Disable pre-arm checks
+mode stabilize             # Manual with stabilization
+arm throttle force         # Force arm
 ```
 
 ## GPU Support
 
-The launcher auto-detects your GPU:
+Auto-detects: NVIDIA > Intel > AMD > Software
 
-| GPU | Status |
-|-----|--------|
-| NVIDIA | Best performance |
-| Intel integrated | Good for laptops |
-| AMD | Good performance |
-| Software | Works but slow |
-
-## Camera Feed
-
-### In Gazebo GUI
-Click camera icon → Select drone camera
-
-### Using camera_viewer
+Check your GPU:
 ```bash
-ros2 run ros_gz_bridge parameter_bridge /drone/camera@sensor_msgs/msg/Image[gz.msgs.Image
-python camera_viewer.py --topic /drone/camera
-```
-
-## World Options
-
-```bash
-./scripts/run_ardupilot_sim.sh runway   # Default
-./scripts/run_ardupilot_sim.sh camera   # With camera
+glxinfo | grep "OpenGL renderer"
 ```
 
 ## MAVProxy Commands
 
 ```bash
 mode stabilize     # Manual mode
-mode guided_nogps  # Autonomous (no GPS)
+mode alt_hold      # Altitude hold
 arm throttle force # Arm motors
 takeoff 5          # Takeoff 5m
 mode land          # Land
@@ -83,17 +67,26 @@ mode land          # Land
 
 ## Troubleshooting
 
+### "No JSON sensor message"
+
+Gazebo isn't sending data to SITL. Check:
+1. Start Gazebo FIRST, then SITL
+2. Plugin path is set:
+```bash
+echo $GZ_SIM_SYSTEM_PLUGIN_PATH | grep ardupilot
+```
+
 ### Simulation laggy
+
+Check GPU is being used (not software):
 ```bash
 glxinfo | grep "OpenGL renderer"
-# Should show GPU, not "llvmpipe"
+# Should NOT show "llvmpipe"
 ```
 
 ### Can't arm
+
 ```bash
 param set ARMING_CHECK 0
 arm throttle force
 ```
-
-### No camera
-Use `./scripts/run_ardupilot_sim.sh camera` for camera world.
diff --git a/scripts/run_ardupilot_sim.sh b/scripts/run_ardupilot_sim.sh
index 9b9a315..b0dbb5d 100755
--- a/scripts/run_ardupilot_sim.sh
+++ b/scripts/run_ardupilot_sim.sh
@@ -113,29 +113,48 @@ fi
 # =============================================================================
 WORLD_ARG="${1:-runway}"
 
-# All worlds must come from ardupilot_gazebo (they have the ArduPilot plugin)
+# Map friendly names to actual world files
 case "$WORLD_ARG" in
-    runway|iris)
+    runway|iris|default)
         WORLD="${HOME}/ardupilot_gazebo/worlds/iris_runway.sdf"
         ;;
+    warehouse)
+        WORLD="${HOME}/ardupilot_gazebo/worlds/iris_warehouse.sdf"
+        ;;
+    gimbal)
+        WORLD="${HOME}/ardupilot_gazebo/worlds/gimbal.sdf"
+        ;;
     zephyr|plane)
         WORLD="${HOME}/ardupilot_gazebo/worlds/zephyr_runway.sdf"
         ;;
+    parachute)
+        WORLD="${HOME}/ardupilot_gazebo/worlds/zephyr_parachute.sdf"
+        ;;
     *)
-        # Try as full path
+        # Try as full path or filename
         if [ -f "$WORLD_ARG" ]; then
             WORLD="$WORLD_ARG"
-        else
+        elif [ -f "${HOME}/ardupilot_gazebo/worlds/${WORLD_ARG}" ]; then
+            WORLD="${HOME}/ardupilot_gazebo/worlds/${WORLD_ARG}"
+        elif [ -f "${HOME}/ardupilot_gazebo/worlds/${WORLD_ARG}.sdf" ]; then
             WORLD="${HOME}/ardupilot_gazebo/worlds/${WORLD_ARG}.sdf"
+        else
+            WORLD=""
         fi
         ;;
 esac
 
-if [ ! -f "$WORLD" ]; then
-    echo "[ERROR] World file not found: $WORLD"
+if [ -z "$WORLD" ] || [ ! -f "$WORLD" ]; then
+    echo "[ERROR] World not found: $WORLD_ARG"
     echo ""
-    echo "Available worlds in ~/ardupilot_gazebo/worlds/:"
-    ls -1 ~/ardupilot_gazebo/worlds/*.sdf 2>/dev/null | xargs -n1 basename
+    echo "Available options:"
+    echo "  runway     - Iris drone on runway (default)"
+    echo "  warehouse  - Iris in warehouse"
+    echo "  gimbal     - Gimbal test"
+    echo "  zephyr     - Zephyr plane"
+    echo "  parachute  - Parachute test"
+    echo ""
+    echo "Or specify full path to .sdf file"
     exit 1
 fi