ROS Bridge Update

gazebo_bridge.py

@@ -8,8 +8,6 @@ Controls rover movement via Gazebo pose commands.
 import base64
 import json
 import math
-import subprocess
-import threading
 from typing import Optional, Dict, Any
 
 import numpy as np
@@ -44,11 +42,6 @@ class GazeboBridge(Node):
         self._drone_pos = [0.0, 0.0, 5.0]
         self._drone_orn = [0.0, 0.0, 0.0, 1.0]
         
-        # Detect gz vs ign command
-        import shutil
-        self._gz_cmd = 'gz' if shutil.which('gz') else 'ign'
-        self.get_logger().info(f'  Using Gazebo command: {self._gz_cmd}')
-        
         sensor_qos = QoSProfile(
             reliability=ReliabilityPolicy.BEST_EFFORT,
             depth=10
@@ -95,57 +88,23 @@ class GazeboBridge(Node):
         self._gz_cmd_vel_pub.publish(gz_msg)
 
     def _rover_callback(self, msg: String) -> None:
-        """Receive rover position and update in Gazebo."""
+        """Receive rover position (for telemetry only - rover is static in Gazebo)."""
         try:
             data = json.loads(msg.data)
             pos = data.get('position', {})
-            new_pos = [
+            self._rover_pos = [
                 pos.get('x', 0.0),
                 pos.get('y', 0.0),
                 pos.get('z', 0.15)
             ]
-            
-            # Only update if position changed significantly
-            if (abs(new_pos[0] - self._rover_pos[0]) > 0.01 or
-                abs(new_pos[1] - self._rover_pos[1]) > 0.01):
-                self._rover_pos = new_pos
-                # Move rover in Gazebo (async to avoid blocking)
-                threading.Thread(target=self._move_rover_in_gazebo, daemon=True).start()
+            # Note: In Gazebo mode, rover position is tracked but the visual
+            # model stays static. Moving the model requires the set_pose service
+            # which has networking issues in WSL2. For moving rover tests,
+            # use PyBullet (standalone_simulation.py or simulation_host.py).
                 
         except json.JSONDecodeError:
             pass
 
-    def _move_rover_in_gazebo(self) -> None:
-        """Send pose command to Gazebo to move the landing pad."""
-        try:
-            x, y, z = self._rover_pos
-            
-            # Use Gazebo service to set model pose
-            if self._gz_cmd == 'ign':
-                # Ignition Gazebo (Fortress)
-                cmd = [
-                    'ign', 'service', '-s', '/world/drone_landing_world/set_pose',
-                    '--reqtype', 'ignition.msgs.Pose',
-                    '--reptype', 'ignition.msgs.Boolean',
-                    '--timeout', '100',
-                    '--req', f'name: "landing_pad", position: {{x: {x}, y: {y}, z: {z}}}'
-                ]
-            else:
-                # Newer Gazebo
-                cmd = [
-                    'gz', 'service', '-s', '/world/drone_landing_world/set_pose',
-                    '--reqtype', 'gz.msgs.Pose',
-                    '--reptype', 'gz.msgs.Boolean',
-                    '--timeout', '100',
-                    '--req', f'name: "landing_pad", position: {{x: {x}, y: {y}, z: {z}}}'
-                ]
-            
-            subprocess.run(cmd, capture_output=True, timeout=1.0)
-            
-        except subprocess.TimeoutExpired:
-            pass
-        except Exception as e:
-            pass  # Silently ignore errors to avoid spam
 
     def _camera_callback(self, msg: Image) -> None:
         """Process camera images and encode as base64."""