Drone Landing Simulation (GPS-Denied)

A GPS-denied drone landing simulation using relative sensors (IMU, altimeter, camera, landing pad detection) with PyBullet and Gazebo simulators.

Quick Start

# Install (choose your platform)
./setup/install_ubuntu.sh   # Ubuntu/Debian
./setup/install_arch.sh     # Arch Linux
./setup/install_macos.sh    # macOS
.\setup\install_windows.ps1 # Windows (PowerShell)

# Activate and run
source activate.sh          # Linux/macOS
. .\activate.ps1             # Windows

python standalone_simulation.py --pattern circular --speed 0.3

Platform Compatibility

Feature	Ubuntu	Arch	macOS	Windows
Standalone	✅	✅	✅	✅
ROS 2	✅	⚠️	❌	❌
Gazebo	✅	⚠️	❌	❌

All platforms support standalone mode - no ROS 2 required!

Files

File	Description
`standalone_simulation.py`	All-in-one simulation (no ROS 2)
`simulation_host.py`	PyBullet simulator (ROS 2 mode)
`ros_bridge.py`	UDP ↔ ROS 2 bridge
`gazebo_bridge.py`	Gazebo ↔ ROS 2 bridge
`controllers.py`	Runs drone + rover controllers
`drone_controller.py`	Drone landing logic (edit this)
`rover_controller.py`	Moving landing pad

Controller Options

python standalone_simulation.py --help

Options:
  --pattern, -p   stationary, linear, circular, square
  --speed, -s     Speed in m/s (default: 0.5)
  --amplitude, -a Amplitude in meters (default: 2.0)

GPS-Denied Sensors

Sensor	Data
IMU	Orientation, angular velocity
Altimeter	Altitude, vertical velocity
Velocity	Estimated horizontal velocity
Camera	320x240 downward-facing image
Landing Pad	Relative position when visible

Documentation

Document	Description
Installation	All platform setup guides
Architecture	System components
Protocol	Sensor data formats
Drone Guide	Landing algorithm guide
PyBullet	PyBullet setup
Gazebo	Gazebo setup (Linux)

Getting Started

Run python standalone_simulation.py
Watch the drone land automatically
Edit drone_controller.py to implement your own algorithm
Test: python standalone_simulation.py --pattern circular

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