Docs Update

docs/gazebo.md

@@ -2,43 +2,38 @@
 
 ## Quick Start (2 Terminals)
 
-**Terminal 1 - Gazebo:**
+**Terminal 1:**
 ```bash
 ros2 launch gazebo/launch/drone_landing.launch.py
 ```
 
-**Terminal 2 - Controllers:**
+**Terminal 2:**
 ```bash
 source activate.sh
 python run_gazebo.py --pattern circular
 ```
 
-## Command Options
-
-```bash
-python run_gazebo.py --pattern circular --speed 0.5
-
-Options:
-  --pattern, -p   stationary, linear, circular, square, random
-  --speed, -s     Rover speed in m/s (default: 0.5)
-  --amplitude, -a Movement radius (default: 2.0)
-  --no-rover      Disable rover controller
-```
-
-## View Camera
+## Camera Feed
 
 ```bash
 python camera_viewer.py --topic /drone/camera
 ```
 
+## Options
+
+```bash
+--pattern   stationary, linear, circular, square, random
+--speed     Rover speed in m/s (default: 0.5)
+--no-rover  Disable rover movement
+```
+
 ## Sensors
 
-| Sensor | Description |
-|--------|-------------|
-| IMU | Orientation, angular velocity |
-| Altimeter | Altitude, vertical velocity |
-| Velocity | Estimated velocity (x, y, z) |
-| Camera | Downward-facing image |
+| Sensor | Source |
+|--------|--------|
+| IMU | Gazebo odometry |
+| Altimeter | Z position |
+| Camera | Camera sensor |
 | Landing Pad | Relative position |
 
 ## ROS 2 Topics
@@ -47,24 +42,23 @@ python camera_viewer.py --topic /drone/camera
 |-------|-----------|
 | `/cmd_vel` | Your commands → Drone |
 | `/drone/telemetry` | Sensors → You |
-| `/drone/camera` | Camera → You |
-| `/rover/telemetry` | Rover position |
+| `/drone/camera` | Camera images |
 
 ## Headless Mode (WSL2)
 
 ```bash
-# Server only (no GUI)
 ign gazebo -s gazebo/worlds/drone_landing.sdf
 ```
 
 ## Troubleshooting
 
 **Drone falls:**
-- Check `run_gazebo.py` is running
-- Check topic: `ros2 topic echo /drone/cmd_vel`
+Check `run_gazebo.py` is running
 
-**Rover doesn't move:**
-- Check topic: `ros2 topic echo /rover/cmd_vel`
+**No camera:**
+```bash
+python camera_viewer.py --list  # Find topics
+```
 
 **Model not found:**
 ```bash