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# Architecture Overview
GPS-denied drone landing simulation with camera vision.
## System Diagram
```
┌─────────────────────────────────────────────────────────────────────────┐
│ Simulation System │
├─────────────────────────────────────────────────────────────────────────┤
│ │
│ ┌──────────────────┐ ┌──────────────────────────┐ │
│ │ simulation_host │◄── UDP:5555 ──────►│ ros_bridge.py │ │
│ │ (PyBullet) │ │ (UDP ↔ ROS Bridge) │ │
│ └──────────────────┘ └────────────┬─────────────┘ │
│ OR │ │
│ ┌──────────────────┐ ┌────────────┴─────────────┐ │
│ │ Gazebo │◄── ROS Topics ────►│ gazebo_bridge.py │ │
│ │ (Ignition) │ │ (Gazebo ↔ ROS Bridge) │ │
│ └──────────────────┘ └────────────┬─────────────┘ │
│ │ │
│ ┌────────────▼─────────────┐ │
│ │ controllers.py │ │
│ │ ┌─────────────────────┐ │ │
│ │ │ DroneController │ │ │
│ │ │ RoverController │ │ │
│ │ └─────────────────────┘ │ │
│ └──────────────────────────┘ │
└─────────────────────────────────────────────────────────────────────────┘
```
## Components
### Simulators
| Component | Description |
|-----------|-------------|
| **PyBullet** (`simulation_host.py`) | Standalone physics, UDP networking, camera rendering |
| **Gazebo** | Full robotics simulator, native ROS 2 integration, camera sensor |
### Bridges
| Component | Description |
|-----------|-------------|
| **ros_bridge.py** | Connects PyBullet ↔ ROS 2 via UDP |
| **gazebo_bridge.py** | Connects Gazebo ↔ ROS 2, provides same interface |
### Controllers
| Component | Description |
|-----------|-------------|
| **controllers.py** | Runs drone + rover controllers together |
| **drone_controller.py** | GPS-denied landing logic |
| **rover_controller.py** | Moving landing pad patterns |
## ROS Topics
| Topic | Type | Publisher | Subscriber |
|-------|------|-----------|------------|
| `/cmd_vel` | `Twist` | DroneController | Bridge |
| `/drone/telemetry` | `String` | Bridge | DroneController |
| `/rover/telemetry` | `String` | RoverController | DroneController |
| `/rover/cmd_vel` | `Twist` | RoverController | (internal) |
| `/rover/position` | `Point` | RoverController | (debug) |
## GPS-Denied Sensor Flow
```
Simulator Bridge DroneController
│ │ │
│ Render Camera │ │
│ Compute Physics │ │
│──────────────────────►│ │
│ │ │
│ │ GPS-Denied Sensors: │
│ │ - IMU │
│ │ - Altimeter │
│ │ - Velocity │
│ │ - Camera Image (JPEG) │
│ │ - Landing Pad Detection │
│ │─────────────────────────►│
│ │ │
│ │ /cmd_vel │
│◄──────────────────────│◄─────────────────────────│
```
## Camera System
Both simulators provide a downward-facing camera:
| Property | Value |
|----------|-------|
| Resolution | 320 x 240 |
| FOV | 60 degrees |
| Format | Base64 JPEG |
| Update Rate | ~5 Hz |
| Direction | Downward |
## Data Flow
### PyBullet Mode
```
DroneController → /cmd_vel → ros_bridge → UDP:5555 → simulation_host
simulation_host → UDP:5556 → ros_bridge → /drone/telemetry → DroneController
```
### Gazebo Mode
```
DroneController → /cmd_vel → gazebo_bridge → /drone/cmd_vel → Gazebo
Gazebo → /model/drone/odometry → gazebo_bridge → /drone/telemetry → DroneController
Gazebo → /drone/camera → gazebo_bridge → (encoded in telemetry)
```
## UDP Protocol
| Port | Direction | Content |
|------|-----------|---------|
| 5555 | Bridge → Simulator | Command JSON |
| 5556 | Simulator → Bridge | Telemetry JSON (includes camera image) |