ArduPilot SITL Update
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docs/pybullet.md
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docs/pybullet.md
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# PyBullet Simulation Guide
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Running the GPS-denied drone simulation with PyBullet physics engine.
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## Standalone Mode (1 Terminal)
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## Standalone Mode (Single Terminal - Any Platform)
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No ROS 2 required! Works on Windows, macOS, and Linux:
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No ROS 2 required. Works on Windows, macOS, Linux:
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```bash
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source activate.sh # Linux/macOS
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. .\activate.ps1 # Windows
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python standalone_simulation.py --pattern circular --speed 0.3
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source activate.sh
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python standalone_simulation.py --pattern circular
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```
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### Options
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```bash
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python standalone_simulation.py --help
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Options:
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--pattern, -p stationary, linear, circular, square
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--speed, -s Rover speed in m/s (default: 0.5)
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--amplitude, -a Movement amplitude in meters (default: 2.0)
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```
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---
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## ROS 2 Mode (Two Terminals)
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For distributed or remote simulation with ROS 2:
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## ROS 2 Mode (2 Terminals)
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**Terminal 1 - Simulator:**
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```bash
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source activate.sh
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python simulation_host.py
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```
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**Terminal 2 - Controllers:**
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```bash
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source activate.sh
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python run_bridge.py --pattern circular --speed 0.3
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python run_bridge.py --pattern circular
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```
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### How It Works
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## Options
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1. `simulation_host.py` runs PyBullet physics and listens on UDP port 5555
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2. `run_bridge.py` starts:
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- `ROS2SimulatorBridge` - connects ROS topics to UDP
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- `DroneController` - your landing algorithm
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- `RoverController` - moves the landing pad
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The rover position is sent to the simulator, so both drone AND rover move!
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### Remote Setup
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Run simulator on one machine, controllers on another:
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**Machine 1 (with display):**
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```bash
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python simulation_host.py # Listens on 0.0.0.0:5555
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--pattern, -p stationary, linear, circular, square, random
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--speed, -s Rover speed in m/s (default: 0.5)
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--amplitude, -a Movement radius (default: 2.0)
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```
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**Machine 2 (headless):**
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```bash
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python run_bridge.py --host 192.168.1.100 --pattern circular
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```
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## Remote Setup
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---
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**Machine 1:** `python simulation_host.py`
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**Machine 2:** `python run_bridge.py --host <IP>`
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## Configuration
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All parameters are configurable in `config.py`:
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```python
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DRONE = {
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"mass": 1.0,
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"start_position": (0.0, 0.0, 5.0),
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"thrust_scale": 15.0,
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...
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}
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ROVER = {
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"start_position": (0.0, 0.0, 0.15),
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"default_pattern": "circular",
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"default_speed": 0.5,
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...
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}
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CONTROLLER = {
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"Kp_z": 0.5,
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"Kd_z": 0.3,
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...
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}
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```
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---
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## Simulation Parameters
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| Parameter | Value |
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|-----------|-------|
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| Physics Rate | 240 Hz |
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| Telemetry Rate | 24 Hz |
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| Drone Mass | 1.0 kg (configurable) |
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| Rover Mass | Static (kinematic) |
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| UDP Port | 5555 (commands), 5556 (telemetry) |
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## GPS-Denied Sensors
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## Sensors
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| Sensor | Description |
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|--------|-------------|
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| **IMU** | Orientation (roll, pitch, yaw), angular velocity |
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| **Altimeter** | Altitude above ground, vertical velocity |
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| **Velocity** | Estimated horizontal velocity (x, y, z) |
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| **Camera** | 320x240 downward-facing JPEG image |
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| **Landing Pad** | Vision-based relative position when in camera FOV |
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| IMU | Orientation, angular velocity |
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| Altimeter | Altitude, vertical velocity |
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| Velocity | Estimated velocity (x, y, z) |
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| Camera | 320x240 downward JPEG |
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| Landing Pad | Relative position |
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## Troubleshooting
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## Configuration
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### "Cannot connect to X server"
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Edit `config.py`:
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PyBullet GUI requires a display:
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```bash
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# Use virtual display
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xvfb-run python standalone_simulation.py
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# Or use X11 forwarding
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ssh -X user@host
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```
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### Drone flies erratically
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Reduce control gains in `config.py`:
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```python
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CONTROLLER = {
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"Kp_z": 0.3,
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"Kd_z": 0.2,
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"Kp_xy": 0.2,
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"Kd_xy": 0.1,
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"Kp_z": 0.5,
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"Kd_z": 0.3,
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"Kp_xy": 0.3,
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"Kd_xy": 0.2,
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}
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```
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### Camera image not appearing
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## Troubleshooting
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Install Pillow:
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**"Cannot connect to X server":**
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```bash
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pip install pillow numpy
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xvfb-run python standalone_simulation.py
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```
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### Rover not moving (ROS 2 mode)
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Ensure `run_bridge.py` is used (not `ros_bridge.py` directly).
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The rover controller must be running to send position updates.
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### WSL2 GUI issues
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Set display scaling:
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```bash
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export GDK_DPI_SCALE=1.0
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export QT_SCALE_FACTOR=1.0
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python standalone_simulation.py
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```
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**Drone flies erratically:**
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Reduce gains in `config.py`
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