Update Gazebo, add ROS bridging, and implement controller warmup.

gazebo/launch/drone_landing.launch.py

@@ -49,8 +49,10 @@ def generate_launch_description():
             executable='parameter_bridge',
             name='gz_bridge',
             arguments=[
-                # Velocity commands (bidirectional)
+                # Drone velocity commands (ROS to Gazebo)
                 '/drone/cmd_vel@geometry_msgs/msg/Twist]ignition.msgs.Twist',
+                # Rover velocity commands (ROS to Gazebo)
+                '/rover/cmd_vel@geometry_msgs/msg/Twist]ignition.msgs.Twist',
                 # Odometry (from Gazebo to ROS)
                 '/model/drone/odometry@nav_msgs/msg/Odometry[ignition.msgs.Odometry',
                 # IMU (from Gazebo to ROS)

gazebo/worlds/drone_landing.sdf

@@ -1,7 +1,7 @@
 <?xml version="1.0" ?>
 <!--
   Drone Landing Simulation - Ignition Fortress World
-  Compatible with ROS 2 Humble
+  With velocity control for drone and rover
 -->
 <sdf version="1.8">
   <world name="drone_landing_world">
@@ -62,11 +62,20 @@
       </link>
     </model>
     
-    <!-- Landing Pad (Rover) -->
+    <!-- Landing Pad (Rover) - Now with velocity control -->
     <model name="landing_pad">
-      <static>true</static>
       <pose>0 0 0.15 0 0 0</pose>
+      
       <link name="base_link">
+        <inertial>
+          <mass>10.0</mass>
+          <inertia>
+            <ixx>1.0</ixx><ixy>0</ixy><ixz>0</ixz>
+            <iyy>1.0</iyy><iyz>0</iyz>
+            <izz>1.0</izz>
+          </inertia>
+        </inertial>
+        
         <visual name="visual">
           <geometry>
             <box><size>1.0 1.0 0.3</size></box>
@@ -81,6 +90,7 @@
             <box><size>1.0 1.0 0.3</size></box>
           </geometry>
         </collision>
+        
         <!-- H marker -->
         <visual name="h_center">
           <pose>0 0 0.151 0 0 0</pose>
@@ -107,11 +117,26 @@
           </material>
         </visual>
       </link>
+      
+      <!-- Rover velocity control - subscribes to /rover/cmd_vel -->
+      <plugin filename="libignition-gazebo-velocity-control-system.so"
+              name="ignition::gazebo::systems::VelocityControl">
+        <topic>/rover/cmd_vel</topic>
+        <initial_linear>0 0 0</initial_linear>
+      </plugin>
+      
+      <!-- Keep rover on ground -->
+      <plugin filename="libignition-gazebo-planar-move-system.so"
+              name="ignition::gazebo::systems::PlanarMove">
+        <cmd_topic>/rover/cmd_vel</cmd_topic>
+        <odom_topic>/rover/odom</odom_topic>
+      </plugin>
+      
     </model>
     
-    <!-- Drone -->
+    <!-- Drone with velocity control -->
     <model name="drone">
-      <pose>0 0 5 0 0 0</pose>
+      <pose>0 0 2 0 0 0</pose>
       
       <link name="base_link">
         <inertial>
@@ -187,6 +212,13 @@
         </sensor>
       </link>
       
+      <!-- Drone velocity control - subscribes to /drone/cmd_vel -->
+      <plugin filename="libignition-gazebo-velocity-control-system.so"
+              name="ignition::gazebo::systems::VelocityControl">
+        <topic>/drone/cmd_vel</topic>
+        <initial_linear>0 0 0</initial_linear>
+      </plugin>
+      
       <!-- Odometry Publisher -->
       <plugin filename="libignition-gazebo-odometry-publisher-system.so"
               name="ignition::gazebo::systems::OdometryPublisher">