feat: Simplify drone controller to basic flight pattern, overhaul installation guide, and update related scripts.

2026-01-07 21:02:31 +00:00
parent 760293d896
commit e266f75fca
9 changed files with 919 additions and 1407 deletions
--- a/README.md
+++ b/README.md
@@ -1,121 +1,121 @@
-# GPS-Denied Drone Landing Simulation
+# RDC Simulation

-ArduPilot + ROS 2 + Gazebo (ARG) simulation for landing on a moving platform.
+GPS-denied drone landing simulation using ArduPilot and Gazebo.

-## Quick Start (2 Terminals)
+## Quick Start

-**Terminal 1 - Gazebo:**
-```bash
-source activate.sh
-./scripts/run_ardupilot_sim.sh runway
-```
+### Prerequisites
+- Ubuntu 22.04/24.04 (or WSL2 on Windows)
+- Python 3.10+
+- ~10GB disk space

-**Terminal 2 - Controller:**
-```bash
-source activate.sh
-./scripts/run_ardupilot_controller.sh
-```
-
-## World Options
+### Installation

 ```bash
-./scripts/run_ardupilot_sim.sh runway     # Default (outdoor)
-./scripts/run_ardupilot_sim.sh warehouse  # Indoor
-./scripts/run_ardupilot_sim.sh custom     # Custom landing pad
-./scripts/run_ardupilot_sim.sh my_world   # gazebo/worlds/my_world.sdf
-```
+# Clone the repository
+git clone <repo-url> RDC_Simulation
+cd RDC_Simulation

-## Installation
+# Install everything (20-30 minutes)
+./setup/install_ubuntu.sh --with-ardupilot

-### Ubuntu (Native or WSL2)
-
-```bash
-./setup/install_ubuntu.sh
-./setup/install_ardupilot.sh
+# Reload environment
 source ~/.bashrc
 ```

-### Windows (via WSL2)
+### Run the Simulation

-```powershell
-# PowerShell as Administrator
-wsl --install -d Ubuntu-24.04
-# Restart, then in Ubuntu terminal:
-./setup/install_ubuntu.sh --with-ardupilot
+You need **3 terminals**:
+
+**Terminal 1 - Gazebo:**
+```bash
+cd ~/RDC_Simulation
+./scripts/run_ardupilot_sim.sh runway
+# Wait until the drone appears in Gazebo
 ```

-### macOS
+**Terminal 2 - SITL:**
+```bash
+source ~/venv-ardupilot/bin/activate
+sim_vehicle.py -v ArduCopter -f gazebo-iris --model JSON --console
+# Wait for "Waiting for connection" then telemetry
+```
+
+**Terminal 3 - Controller:**
+```bash
+source ~/venv-ardupilot/bin/activate
+cd ~/RDC_Simulation
+python scripts/run_ardupilot.py --pattern square
+```
+
+### Flight Patterns

 ```bash
-./setup/install_macos.sh
-python standalone_simulation.py  # Gazebo not supported
-```
+# Fly a square pattern (default)
+python scripts/run_ardupilot.py --pattern square --size 5

-See [Installation Guide](docs/installation.md) for detailed platform instructions.
+# Fly a circle
+python scripts/run_ardupilot.py --pattern circle --size 5
+
+# Just hover in place
+python scripts/run_ardupilot.py --pattern hover
+
+# Custom altitude
+python scripts/run_ardupilot.py --pattern square --altitude 10
+```

 ## Project Structure

 ```
-simulation/
-├── config.py
-├── src/
-│   └── drone_controller.py   # Your algorithm
+RDC_Simulation/
 ├── scripts/
-│   ├── run_ardupilot_sim.sh
-│   └── run_ardupilot_controller.sh
-├── gazebo/
-│   ├── worlds/               # Your worlds
-│   └── models/               # Your models
+│   ├── run_ardupilot_sim.sh      # Launch Gazebo
+│   ├── run_ardupilot_controller.sh # Launch SITL + Controller
+│   └── run_ardupilot.py          # Flight controller
+├── src/
+│   ├── drone_controller.py       # Simple drone controller
+│   ├── rover_controller.py       # Moving landing pad (ROS 2)
+│   └── camera_viewer.py          # Camera viewer (ROS 2)
 ├── setup/
-└── docs/
+│   ├── install_ubuntu.sh         # Ubuntu installer
+│   ├── install_ardupilot.sh      # ArduPilot installer
+│   └── install_arch.sh           # Arch Linux installer
+├── gazebo/
+│   └── models/                   # Custom Gazebo models
+├── docs/                         # Documentation
+└── config.py                     # Configuration
 ```

-## 3-Phase Mission
-
-| Phase | Action |
-|-------|--------|
-| SEARCH | Find QR code on rover |
-| COMMAND | Send commands to rover |
-| LAND | Land on rover |
-
-## Environment Setup
-
-Always activate the environment before running:
-
-```bash
-source activate.sh
-```
-
-This sets up:
- ROS 2 environment
- ArduPilot venv (with empy, pymavlink, etc.)
- Gazebo resource paths
- ArduPilot tools path
-
 ## Troubleshooting

-**sim_vehicle.py not found:**
-```bash
-source ~/.ardupilot_env
-```
+### "No JSON sensor message received"
+Gazebo isn't sending data to SITL.
+- **Fix**: Start Gazebo FIRST, wait for it to fully load, THEN start SITL.

-**empy not found:**
-```bash
-source ~/venv-ardupilot/bin/activate
-pip install empy==3.3.4
-```
+### "empy not found"
+Wrong Python environment.
+- **Fix**: `source ~/venv-ardupilot/bin/activate`

-**Gazebo slow (software rendering):**
-```bash
-glxinfo | grep "OpenGL renderer"
-# Should show GPU, not "llvmpipe"
-```
+### "sim_vehicle.py not found"
+ArduPilot tools not in PATH.
+- **Fix**: `source ~/.ardupilot_env`
+
+### Can't arm
+The drone won't arm or takeoff.
+- **Fix**: Make sure you're in GUIDED mode and Gazebo is running.
+- Check console for pre-arm errors.
+
+### Gazebo is slow
+- Try a lighter world: `./scripts/run_ardupilot_sim.sh runway`
+- Check GPU: `glxinfo | grep "OpenGL renderer"`

 ## Documentation

- [Installation](docs/installation.md) - Full setup for all platforms + WSL
- [ArduPilot Guide](docs/ardupilot.md) - SITL setup and troubleshooting
- [Drone Controller](docs/drone_guide.md) - Landing algorithm
- [Custom Worlds](docs/gazebo_worlds.md) - Create Gazebo environments
- [Blender Models](docs/blender_models.md) - 3D model workflow
- [Architecture](docs/architecture.md) - System design
+- [Installation Guide](docs/installation.md)
+- [ArduPilot Guide](docs/ardupilot.md)
+- [Architecture](docs/architecture.md)
+- [Gazebo Worlds](docs/gazebo_worlds.md)
+
+## License
+
+MIT License