PyBullet Simulation Guide

Standalone Mode (1 Terminal)

No ROS 2 required. Works on Windows, macOS, Linux:

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

ROS 2 Mode (2 Terminals)

Terminal 1 - Simulator:

python simulation_host.py

Terminal 2 - Controllers:

python run_bridge.py --pattern circular

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)

Remote Setup

Machine 1: python simulation_host.py Machine 2: python run_bridge.py --host <IP>

Sensors

Sensor	Description
IMU	Orientation, angular velocity
Altimeter	Altitude, vertical velocity
Velocity	Estimated velocity (x, y, z)
Camera	320x240 downward JPEG
Landing Pad	Relative position

Configuration

Edit config.py:

CONTROLLER = {
    "Kp_z": 0.5,
    "Kd_z": 0.3,
    "Kp_xy": 0.3,
    "Kd_xy": 0.2,
}

Troubleshooting

"Cannot connect to X server":

xvfb-run python standalone_simulation.py

Drone flies erratically: Reduce gains in config.py

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