RDC_Simulation/docs/gazebo.md

Gazebo Simulation Guide

Quick Start (2 Terminals)

Terminal 1 - Gazebo:

ros2 launch gazebo/launch/drone_landing.launch.py

Terminal 2 - Controllers:

source activate.sh
python run_gazebo.py --pattern circular

Command Options

python run_gazebo.py --pattern circular --speed 0.5

Options:
  --pattern, -p   stationary, linear, circular, square, random
  --speed, -s     Rover speed in m/s (default: 0.5)
  --amplitude, -a Movement radius (default: 2.0)
  --no-rover      Disable rover controller

View Camera

python camera_viewer.py --topic /drone/camera

Sensors

Sensor	Description
IMU	Orientation, angular velocity
Altimeter	Altitude, vertical velocity
Velocity	Estimated velocity (x, y, z)
Camera	Downward-facing image
Landing Pad	Relative position

ROS 2 Topics

Topic	Direction
/cmd_vel	Your commands → Drone
/drone/telemetry	Sensors → You
/drone/camera	Camera → You
/rover/telemetry	Rover position

Headless Mode (WSL2)

# Server only (no GUI)
ign gazebo -s gazebo/worlds/drone_landing.sdf

Troubleshooting

Drone falls:

• Check run_gazebo.py is running
• Check topic: ros2 topic echo /drone/cmd_vel

Rover doesn't move:

• Check topic: ros2 topic echo /rover/cmd_vel

Model not found:

export GZ_SIM_RESOURCE_PATH=$PWD/gazebo/models:$GZ_SIM_RESOURCE_PATH