Initial Attempt

controllers.py

@@ -0,0 +1,109 @@
+#!/usr/bin/env python3
+"""
+Controllers - Runs DroneController and RoverController together.
+Usage: python controllers.py [--pattern PATTERN] [--speed SPEED] [--amplitude AMP]
+"""
+
+import argparse
+import sys
+
+import rclpy
+from rclpy.executors import MultiThreadedExecutor
+
+from drone_controller import DroneController
+from rover_controller import RoverController, MovementPattern
+
+
+def parse_args():
+    parser = argparse.ArgumentParser(
+        description='Run drone and rover controllers together',
+        formatter_class=argparse.RawDescriptionHelpFormatter,
+        epilog="""
+Rover Movement Patterns:
+  stationary  - Rover stays at origin (easiest)
+  linear      - Back and forth along X axis
+  circular    - Circular path around origin
+  random      - Random movement within bounds
+  square      - Square pattern around origin
+
+Examples:
+  python controllers.py
+  python controllers.py --pattern circular --speed 0.3
+  python controllers.py --pattern random --speed 0.5 --amplitude 3.0
+        """
+    )
+    parser.add_argument(
+        '--pattern', '-p', type=str,
+        choices=[p.value for p in MovementPattern],
+        default='stationary',
+        help='Rover movement pattern (default: stationary)'
+    )
+    parser.add_argument(
+        '--speed', '-s', type=float, default=0.5,
+        help='Rover speed in m/s (default: 0.5)'
+    )
+    parser.add_argument(
+        '--amplitude', '-a', type=float, default=2.0,
+        help='Rover movement amplitude in meters (default: 2.0)'
+    )
+    args, _ = parser.parse_known_args()
+    return args
+
+
+def main(args=None):
+    cli_args = parse_args()
+    
+    print("\n" + "=" * 60)
+    print("  DRONE LANDING SIMULATION - CONTROLLERS")
+    print("=" * 60)
+    print(f"  Rover Pattern: {cli_args.pattern}")
+    print(f"  Rover Speed: {cli_args.speed} m/s")
+    print(f"  Rover Amplitude: {cli_args.amplitude} m")
+    print("=" * 60 + "\n")
+    
+    rclpy.init(args=args)
+    
+    drone_controller = None
+    rover_controller = None
+    executor = None
+    
+    try:
+        # Create drone controller
+        drone_controller = DroneController()
+        
+        # Create rover controller with specified pattern
+        pattern = MovementPattern(cli_args.pattern)
+        rover_controller = RoverController(
+            pattern=pattern,
+            speed=cli_args.speed,
+            amplitude=cli_args.amplitude
+        )
+        
+        # Use multi-threaded executor to run both nodes
+        executor = MultiThreadedExecutor(num_threads=4)
+        executor.add_node(drone_controller)
+        executor.add_node(rover_controller)
+        
+        print("\nBoth controllers running. Press Ctrl+C to stop.\n")
+        
+        executor.spin()
+        
+    except KeyboardInterrupt:
+        print('\nShutting down controllers...')
+    except Exception as e:
+        print(f'Error: {e}')
+        sys.exit(1)
+    finally:
+        if executor:
+            executor.shutdown()
+        if drone_controller:
+            drone_controller.destroy_node()
+        if rover_controller:
+            rover_controller.destroy_node()
+        if rclpy.ok():
+            rclpy.shutdown()
+        print('Controllers stopped.')
+
+
+if __name__ == '__main__':
+    main()