GPS-Denied Drone Landing Simulation
ArduPilot + ROS 2 + Gazebo (ARG) simulation for landing on a moving platform.
Quick Start (2 Terminals)
Terminal 1 - Gazebo:
./scripts/run_ardupilot_sim.sh runway
Terminal 2 - Controller:
./scripts/run_ardupilot_controller.sh
World Options
./scripts/run_ardupilot_sim.sh runway # Default
./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
Installation
./setup/install_ubuntu.sh
./setup/install_ardupilot.sh
source ~/.bashrc
Project Structure
simulation/
├── config.py
├── src/
│ └── drone_controller.py # Your algorithm
├── scripts/
│ ├── run_ardupilot_sim.sh
│ └── run_ardupilot_controller.sh
├── gazebo/
│ ├── worlds/ # Your worlds
│ └── models/ # Your models
├── setup/
└── docs/
3-Phase Mission
| Phase | Action |
|---|---|
| SEARCH | Find QR code on rover |
| COMMAND | Send commands to rover |
| LAND | Land on rover |