1.1 KiB
1.1 KiB
Gazebo Simulation Guide
Quick Start (2 Terminals)
Terminal 1:
ros2 launch gazebo/launch/drone_landing.launch.py
Terminal 2:
source activate.sh
python run_gazebo.py --pattern circular
Camera Feed
python camera_viewer.py --topic /drone/camera
Options
--pattern stationary, linear, circular, square, random
--speed Rover speed in m/s (default: 0.5)
--no-rover Disable rover movement
Sensors
| Sensor | Source |
|---|---|
| IMU | Gazebo odometry |
| Altimeter | Z position |
| Camera | Camera sensor |
| Landing Pad | Relative position |
ROS 2 Topics
| Topic | Direction |
|---|---|
/cmd_vel |
Your commands → Drone |
/drone/telemetry |
Sensors → You |
/drone/camera |
Camera images |
Headless Mode (WSL2)
ign gazebo -s gazebo/worlds/drone_landing.sdf
Troubleshooting
Drone falls:
Check run_gazebo.py is running
No camera:
python camera_viewer.py --list # Find topics
Model not found:
export GZ_SIM_RESOURCE_PATH=$PWD/gazebo/models:$GZ_SIM_RESOURCE_PATH