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Scripts and simulation packaging update

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2026-01-01 00:50:28 +00:00
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91
docs/architecture.md
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@@ -1,8 +1,32 @@
# Architecture Overview
GPS-denied drone landing simulation with camera vision.
GPS-denied drone landing simulation with multiple operation modes.
## System Diagram
## Operation Modes
### Standalone Mode (Windows/Simple)
All-in-one simulation - no ROS 2 or external dependencies:
```
┌────────────────────────────────────────┐
│ standalone_simulation.py │
│ ┌──────────────────────────────────┐ │
│ │ PyBullet Physics Engine │ │
│ │ ┌────────┐ ┌────────────────┐ │ │
│ │ │ Drone │ │ Landing Pad │ │ │
│ │ └────────┘ └────────────────┘ │ │
│ ├──────────────────────────────────┤ │
│ │ Built-in Controller │ │
│ │ • Landing algorithm │ │
│ │ • Rover movement patterns │ │
│ └──────────────────────────────────┘ │
└────────────────────────────────────────┘
```
### Full Mode (Linux + ROS 2)
Modular architecture for development and testing:
```
┌─────────────────────────────────────────────────────────────────────────┐
@@ -16,7 +40,7 @@ GPS-denied drone landing simulation with camera vision.
│ OR │ │
│ ┌──────────────────┐ ┌────────────┴─────────────┐ │
│ │ Gazebo │◄── ROS Topics ────►│ gazebo_bridge.py │ │
│ │ (Ignition) │ │ (Gazebo ↔ ROS Bridge) │ │
│ │ (Linux only) │ │ (Gazebo ↔ ROS Bridge) │ │
│ └──────────────────┘ └────────────┬─────────────┘ │
│ │ │
│ ┌────────────▼─────────────┐ │
@@ -31,37 +55,31 @@ GPS-denied drone landing simulation with camera vision.
## Components
### Simulators
### Standalone
| Component | Description |
|-----------|-------------|
| **PyBullet** (`simulation_host.py`) | Standalone physics, UDP networking, camera rendering |
| **Gazebo** | Full robotics simulator, native ROS 2 integration, camera sensor |
| **standalone_simulation.py** | Complete simulation with built-in controller |
### Bridges
### Full Mode
| Component | Description |
|-----------|-------------|
| **PyBullet** (`simulation_host.py`) | Physics engine, UDP networking, camera |
| **Gazebo** | Full robotics simulator (Linux only) |
| **ros_bridge.py** | Connects PyBullet ↔ ROS 2 via UDP |
| **gazebo_bridge.py** | Connects Gazebo ↔ ROS 2, provides same interface |
### Controllers
| Component | Description |
|-----------|-------------|
| **controllers.py** | Runs drone + rover controllers together |
| **gazebo_bridge.py** | Connects Gazebo ↔ ROS 2 |
| **controllers.py** | Runs drone + rover controllers |
| **drone_controller.py** | GPS-denied landing logic |
| **rover_controller.py** | Moving landing pad patterns |
## ROS Topics
## ROS Topics (Full Mode)
| Topic | Type | Publisher | Subscriber |
|-------|------|-----------|------------|
| `/cmd_vel` | `Twist` | DroneController | Bridge |
| `/drone/telemetry` | `String` | Bridge | DroneController |
| `/rover/telemetry` | `String` | RoverController | DroneController |
| `/rover/cmd_vel` | `Twist` | RoverController | (internal) |
| `/rover/position` | `Point` | RoverController | (debug) |
## GPS-Denied Sensor Flow
@@ -71,49 +89,28 @@ Simulator Bridge DroneController
│ Render Camera │ │
│ Compute Physics │ │
│──────────────────────►│ │
│ │ │
│ │ GPS-Denied Sensors: │
│ │ - IMU │
│ │ - Altimeter │
│ │ - Velocity │
│ │ - Camera Image (JPEG) │
│ │ - Camera Image │
│ │ - Landing Pad Detection │
│ │─────────────────────────►│
│ │ │
│ │ /cmd_vel │
│◄──────────────────────│◄─────────────────────────│
```
## Camera System
## Platform Support
Both simulators provide a downward-facing camera:
| Mode | Windows | Linux | macOS |
|------|---------|-------|-------|
| Standalone | ✅ | ✅ | ✅ |
| Full (ROS 2) | ⚠️ | ✅ | ⚠️ |
| Gazebo | ❌ | ✅ | ❌ |
| Property | Value |
|----------|-------|
| Resolution | 320 x 240 |
| FOV | 60 degrees |
| Format | Base64 JPEG |
| Update Rate | ~5 Hz |
| Direction | Downward |
## Data Flow
### PyBullet Mode
```
DroneController → /cmd_vel → ros_bridge → UDP:5555 → simulation_host
simulation_host → UDP:5556 → ros_bridge → /drone/telemetry → DroneController
```
### Gazebo Mode
```
DroneController → /cmd_vel → gazebo_bridge → /drone/cmd_vel → Gazebo
Gazebo → /model/drone/odometry → gazebo_bridge → /drone/telemetry → DroneController
Gazebo → /drone/camera → gazebo_bridge → (encoded in telemetry)
```
## UDP Protocol
## UDP Protocol (Full Mode)
| Port | Direction | Content |
|------|-----------|---------|
| 5555 | Bridge → Simulator | Command JSON |
| 5556 | Simulator → Bridge | Telemetry JSON (includes camera image) |
| 5556 | Simulator → Bridge | Telemetry JSON |

16
docs/installation.md
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@@ -228,10 +228,18 @@ chmod +x activate.sh
### Windows
- PyBullet works in GUI mode
- Gazebo not officially supported
- ROS 2 requires Windows-specific binaries
- Consider WSL2 for full Linux experience
- **PyBullet works fully** - GUI mode with camera
- **Gazebo NOT supported** - Linux only
- **ROS 2 optional** - Only needed for ros_bridge.py
- Use `python simulation_host.py` directly
**On Windows, the recommended workflow is:**
```powershell
. .\activate.ps1
python simulation_host.py
```
The PyBullet simulation runs standalone with full GUI - no ROS 2 or Gazebo needed.
---

76
docs/pybullet.md
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@@ -2,7 +2,37 @@
Running the GPS-denied drone simulation with PyBullet.
## Quick Start
## Windows (Standalone Mode)
No ROS 2 required! Run the all-in-one simulation:
```powershell
. .\activate.ps1
python standalone_simulation.py
```
### Options
```powershell
# Stationary landing pad
python standalone_simulation.py
# Moving rover patterns
python standalone_simulation.py --pattern circular --speed 0.3
python standalone_simulation.py --pattern linear --speed 0.5
python standalone_simulation.py --pattern square --speed 0.4
Options:
--pattern, -p stationary, linear, circular, square
--speed, -s Rover speed in m/s (default: 0.5)
--amplitude, -a Movement amplitude in meters (default: 2.0)
```
The simulation includes a built-in landing controller. Watch the drone automatically land on the rover!
---
## Linux (Full ROS 2 Mode)
**Terminal 1 - Simulator:**
```bash
@@ -22,7 +52,7 @@ source activate.sh
python controllers.py --pattern circular --speed 0.3
```
## Remote Setup
### Remote Setup
Run simulator on one machine, controllers on another.
@@ -38,6 +68,8 @@ python ros_bridge.py --host <MACHINE_1_IP>
python controllers.py
```
---
## Simulation Parameters
| Parameter | Value |
@@ -49,30 +81,23 @@ python controllers.py
## GPS-Denied Sensors
The simulator provides:
| Sensor | Description |
|--------|-------------|
| IMU | Orientation (roll, pitch, yaw), angular velocity |
| IMU | Orientation, angular velocity |
| Altimeter | Barometric altitude, vertical velocity |
| Velocity | Optical flow estimate (x, y, z) |
| Velocity | Optical flow estimate |
| Camera | 320x240 downward JPEG image |
| Landing Pad | Vision-based relative position (60° FOV, 10m range) |
| Landing Pad | Vision-based relative position |
## Camera System
PyBullet renders a camera image from the drone's perspective:
| Property | Value |
|----------|-------|
| Resolution | 320 x 240 |
| FOV | 60 degrees |
| Format | Base64 encoded JPEG |
| Update Rate | ~5 Hz |
| Direction | Downward-facing |
The image is included in telemetry as `camera.image`.
## World Setup
| Object | Position | Description |
@@ -81,23 +106,6 @@ The image is included in telemetry as `camera.image`.
| Rover | (0, 0, 0.15) | 1m × 1m landing pad |
| Drone | (0, 0, 5) | Starting position |
## UDP Communication
| Port | Direction | Data |
|------|-----------|------|
| 5555 | Bridge → Sim | Commands (JSON) |
| 5556 | Sim → Bridge | Telemetry (JSON with camera) |
## ROS Bridge Options
```bash
python ros_bridge.py --help
Options:
--host, -H Simulator IP (default: 127.0.0.1)
--port, -p Simulator port (default: 5555)
```
## Building Executable
Create standalone executable:
@@ -107,8 +115,6 @@ source activate.sh
python build_exe.py
```
Output: `dist/simulation_host` (or `.exe` on Windows)
## Troubleshooting
### "Cannot connect to X server"
@@ -120,18 +126,12 @@ PyBullet requires a display:
### Drone flies erratically
Reduce control gains:
Reduce control gains in `drone_controller.py`:
```python
Kp = 0.3
Kd = 0.2
```
### No telemetry received
1. Check simulator is running
2. Verify firewall allows UDP 5555-5556
3. Check IP address in ros_bridge.py
### Camera image not appearing
Ensure PIL/Pillow is installed: