Scripts and simulation packaging update

README.md

@@ -4,17 +4,28 @@ A GPS-denied drone landing simulation using relative sensors (IMU, altimeter, ca
 
 ## Quick Start
 
-```bash
-# Install (Ubuntu)
-./setup/install_ubuntu.sh
-source activate.sh
+### Windows (Standalone - No ROS 2 Required)
 
-# Run PyBullet simulation
-python simulation_host.py      # Terminal 1: Simulator
-python ros_bridge.py           # Terminal 2: ROS bridge
-python controllers.py          # Terminal 3: Drone + Rover controllers
+```powershell
+. .\activate.ps1
+python standalone_simulation.py
 
 # With moving rover
+python standalone_simulation.py --pattern circular --speed 0.3
+```
+
+### Linux (Full ROS 2 Setup)
+
+```bash
+source activate.sh
+
+# Terminal 1: Simulator
+python simulation_host.py
+
+# Terminal 2: ROS bridge
+python ros_bridge.py
+
+# Terminal 3: Controllers
 python controllers.py --pattern circular --speed 0.3
 ```
 
@@ -22,22 +33,17 @@ python controllers.py --pattern circular --speed 0.3
 
 ```
 ┌─────────────────────────────────────────────────────────────────────────┐
-│  ┌──────────────────┐                    ┌──────────────────────────┐   │
-│  │ simulation_host  │◄── UDP:5555 ──────►│    ros_bridge.py         │   │
-│  │   (PyBullet)     │                    └────────────┬─────────────┘   │
-│  └──────────────────┘                                 │                 │
-│          OR                                           │                 │
-│  ┌──────────────────┐                    ┌────────────┴─────────────┐   │
-│  │     Gazebo       │◄── ROS Topics ────►│    gazebo_bridge.py      │   │
-│  └──────────────────┘                    └────────────┬─────────────┘   │
-│                                                       │                 │
-│                                          ┌────────────▼─────────────┐   │
-│                                          │    controllers.py        │   │
-│                                          │  ┌─────────────────────┐ │   │
-│                                          │  │  DroneController    │ │   │
-│                                          │  │  RoverController    │ │   │
-│                                          │  └─────────────────────┘ │   │
-│                                          └──────────────────────────┘   │
+│  STANDALONE MODE (Windows)              FULL MODE (Linux + ROS 2)       │
+│  ─────────────────────────              ──────────────────────────      │
+│                                                                         │
+│  ┌──────────────────────┐     ┌───────────────┐    ┌───────────────┐   │
+│  │standalone_simulation │     │simulation_host│◄──►│  ros_bridge   │   │
+│  │  (All-in-one)        │     └───────────────┘    └───────┬───────┘   │
+│  └──────────────────────┘                                  │           │
+│                                                  ┌─────────▼─────────┐ │
+│                                                  │   controllers.py  │ │
+│                                                  │ (Drone + Rover)   │ │
+│                                                  └───────────────────┘ │
 └─────────────────────────────────────────────────────────────────────────┘
 ```
 
@@ -45,20 +51,25 @@ python controllers.py --pattern circular --speed 0.3
 
 | File | Description |
 |------|-------------|
+| `standalone_simulation.py` | **Windows: All-in-one simulation (no ROS 2)** |
 | `simulation_host.py` | PyBullet physics simulator |
 | `ros_bridge.py` | UDP ↔ ROS 2 bridge |
 | `gazebo_bridge.py` | Gazebo ↔ ROS 2 bridge |
-| `controllers.py` | **Runs drone + rover together** |
+| `controllers.py` | Runs drone + rover controllers |
 | `drone_controller.py` | Drone landing logic (edit this) |
 | `rover_controller.py` | Moving landing pad |
 
 ## Controller Options
 
 ```bash
-python controllers.py --help
+# Standalone (Windows)
+python standalone_simulation.py --pattern circular --speed 0.3
+
+# Full mode (Linux)
+python controllers.py --pattern circular --speed 0.3
 
 Options:
-  --pattern, -p   Rover pattern: stationary, linear, circular, random, square
+  --pattern, -p   Rover pattern: stationary, linear, circular, square
   --speed, -s     Rover speed in m/s (default: 0.5)
   --amplitude, -a Rover amplitude in meters (default: 2.0)
 ```
@@ -72,8 +83,8 @@ The drone has no GPS. Available sensors:
 | **IMU** | Orientation, angular velocity |
 | **Altimeter** | Altitude, vertical velocity |
 | **Velocity** | Estimated horizontal velocity |
-| **Camera** | 320x240 downward-facing image (base64 JPEG) |
-| **Landing Pad** | Relative position when visible (may be null) |
+| **Camera** | 320x240 downward-facing image |
+| **Landing Pad** | Relative position when visible |
 
 ## Documentation
 
@@ -85,12 +96,19 @@ The drone has no GPS. Available sensors:
 | [Drone Guide](docs/drone_guide.md) | How to implement landing logic |
 | [Rover Controller](docs/rover_controller.md) | Movement patterns |
 | [PyBullet](docs/pybullet.md) | PyBullet-specific setup |
-| [Gazebo](docs/gazebo.md) | Gazebo-specific setup |
+| [Gazebo](docs/gazebo.md) | Gazebo-specific setup (Linux only) |
+
+## Platform Support
+
+| Platform | Standalone | Full (ROS 2) | Gazebo |
+|----------|------------|--------------|--------|
+| Windows | ✅ | ⚠️ Complex | ❌ |
+| Linux | ✅ | ✅ | ✅ |
+| macOS | ✅ | ⚠️ Limited | ❌ |
 
 ## Getting Started
 
-1. Read [docs/drone_guide.md](docs/drone_guide.md)
-2. Edit `drone_controller.py`
-3. Implement `calculate_landing_maneuver()`
-4. Run: `python controllers.py --pattern stationary`
-5. Increase difficulty: `python controllers.py --pattern circular`
+1. **Windows**: Run `python standalone_simulation.py`
+2. **Linux**: Read [docs/drone_guide.md](docs/drone_guide.md)
+3. Edit `drone_controller.py` to implement your algorithm
+4. Test with different rover patterns