Docs Update

.gitignore

@@ -2,3 +2,4 @@
 
 venv/
 __pycache__/
+notes/

docs/architecture.md

@@ -57,6 +57,7 @@ Terminal 1                    Terminal 2
 | `run_gazebo.py` | Gazebo bridge + controllers |
 | `drone_controller.py` | Landing algorithm |
 | `rover_controller.py` | Moving landing pad |
+| `gazebo/launch/drone_landing.launch.py` | ROS 2 launch file for Gazebo |
 
 ## ROS Topics
 

docs/gazebo.md

@@ -67,6 +67,61 @@ Run without GUI:
 gz sim -s gazebo/worlds/drone_landing.sdf
 ```
 
+---
+
+## ROS 2 Launch File (Advanced)
+
+**Location:** `gazebo/launch/drone_landing.launch.py`
+
+This launch file automates Gazebo startup for ROS 2 integration:
+1. Starts Gazebo with the world
+2. Spawns the drone automatically
+3. Starts `ros_gz_bridge` to connect topics
+
+### Option 1: Direct Launch (Recommended)
+
+Run the launch file directly with `ros2 launch`:
+
+```bash
+source activate.sh
+ros2 launch gazebo/launch/drone_landing.launch.py
+```
+
+Then in another terminal, run just the controllers:
+```bash
+source activate.sh
+python controllers.py --pattern circular
+```
+
+### Option 2: Include in Your ROS 2 Package
+
+If you have a ROS 2 package, copy the launch file and use:
+```bash
+ros2 launch my_drone_package drone_landing.launch.py
+```
+
+### Launch Arguments
+
+| Argument | Default | Description |
+|----------|---------|-------------|
+| `use_sim_time` | `true` | Use Gazebo clock |
+| `headless` | `false` | Run without GUI |
+
+```bash
+ros2 launch gazebo/launch/drone_landing.launch.py headless:=true
+```
+
+### Topics Bridged by Launch File
+
+| ROS 2 Topic | Description |
+|-------------|-------------|
+| `/drone/cmd_vel` | Velocity commands |
+| `/model/drone/odometry` | Drone state |
+| `/drone/imu` | IMU sensor |
+| `/clock` | Simulation time |
+
+---
+
 ## Troubleshooting
 
 ### Model not found

docs/installation.md

@@ -154,7 +154,12 @@ Open PowerShell as Administrator:
 # Install WSL2 with Ubuntu
 wsl --install -d Ubuntu-22.04
 
-# Restart computer when prompted
+# set the user name and password
+# Then update the system
+sudo apt update
+sudo apt upgrade
+
+# Restart computer if prompted
 ```
 
 ### Step 2: Enable GUI Support (WSLg)