154 lines
4.4 KiB
Markdown
154 lines
4.4 KiB
Markdown
# Drone Landing Simulation (GPS-Denied)
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A GPS-denied drone landing simulation using relative sensors (IMU, altimeter, camera, landing pad detection) with multiple backends:
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- **PyBullet** - Lightweight physics simulation
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- **Gazebo** - Full robotics simulator
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- **ArduPilot SITL** - Realistic flight controller with MAVProxy
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## Quick Start
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### Standalone Mode (Any Platform - No ROS 2 Required)
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```bash
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source activate.sh # Linux/macOS
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. .\activate.ps1 # Windows
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python standalone_simulation.py --pattern circular --speed 0.3
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```
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### PyBullet + ROS 2 (Two Terminals)
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**Terminal 1 - Simulator:**
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```bash
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python simulation_host.py
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```
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**Terminal 2 - Bridge + Controllers:**
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```bash
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python run_bridge.py --pattern circular --speed 0.3
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```
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### Gazebo + ROS 2 (Two Terminals - Linux/WSL2)
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**Terminal 1 - Launch Gazebo + Bridge:**
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```bash
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ros2 launch gazebo/launch/drone_landing.launch.py
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```
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**Terminal 2 - Run Controllers:**
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```bash
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python run_gazebo.py --pattern circular --speed 0.3
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```
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### ArduPilot SITL + Gazebo (Three Terminals - Realistic Flight Controller)
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**Terminal 1 - Launch Gazebo with ArduPilot world:**
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```bash
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ros2 launch gazebo/launch/ardupilot_drone.launch.py
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```
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**Terminal 2 - Start ArduPilot SITL:**
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```bash
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cd ~/ardupilot
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sim_vehicle.py -v ArduCopter -f gazebo-iris --model JSON --console
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```
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**Terminal 3 - Run MAVLink Bridge + Controllers:**
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```bash
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python run_ardupilot.py --no-sitl --pattern circular
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```
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## Installation
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| Platform | Command |
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|----------|---------|
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| Ubuntu/Debian | `./setup/install_ubuntu.sh` |
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| Arch Linux | `./setup/install_arch.sh` |
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| macOS | `./setup/install_macos.sh` |
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| Windows | `.\setup\install_windows.ps1` |
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## Platform Compatibility
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| Feature | Ubuntu | Arch | macOS | Windows | WSL2 |
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|---------|--------|------|-------|---------|------|
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| Standalone | ✅ | ✅ | ✅ | ✅ | ✅ |
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| PyBullet + ROS 2 | ✅ | ⚠️ | ❌ | ❌ | ✅ |
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| Gazebo + ROS 2 | ✅ | ⚠️ | ❌ | ❌ | ✅ |
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| ArduPilot + Gazebo | ✅ | ⚠️ | ❌ | ❌ | ✅ |
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## Files
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| File | Description |
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|------|-------------|
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| `standalone_simulation.py` | All-in-one (no ROS 2 required) |
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| `simulation_host.py` | PyBullet simulator server |
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| `run_bridge.py` | PyBullet bridge + Controllers |
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| `run_gazebo.py` | Gazebo bridge + Controllers |
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| `run_ardupilot.py` | **ArduPilot SITL** + MAVLink bridge |
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| `mavlink_bridge.py` | MAVLink ↔ ROS 2 bridge |
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| `config.py` | **Configuration file** (edit to customize) |
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| `drone_controller.py` | **Your landing algorithm** (edit this!) |
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| `rover_controller.py` | Moving landing pad controller |
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## Configuration
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Edit `config.py` to customize:
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- Drone/rover starting positions
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- Physical properties (mass, size)
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- Controller gains (Kp, Kd)
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- Landing detection thresholds
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## Command Line Options
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```bash
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# Standalone (no ROS 2)
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python standalone_simulation.py --pattern circular --speed 0.3
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# PyBullet + ROS 2
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python run_bridge.py --pattern circular --speed 0.3 --host <SIMULATOR_IP>
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# Gazebo + ROS 2
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python run_gazebo.py --pattern circular --speed 0.3
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Options:
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--pattern, -p stationary, linear, circular, square, random
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--speed, -s Speed in m/s (default: 0.5)
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--amplitude, -a Amplitude in meters (default: 2.0)
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--host, -H Simulator IP (default: 0.0.0.0)
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```
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## GPS-Denied Sensors
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| Sensor | Data |
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|--------|------|
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| **IMU** | Orientation (roll, pitch, yaw), angular velocity |
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| **Altimeter** | Altitude, vertical velocity |
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| **Velocity** | Estimated horizontal velocity (x, y, z) |
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| **Camera** | 320x240 downward-facing JPEG image |
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| **Landing Pad** | Relative position when visible in camera FOV |
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## Documentation
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| Document | Description |
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|----------|-------------|
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| [Installation](docs/installation.md) | Platform setup guides + WSL2 |
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| [Architecture](docs/architecture.md) | System components diagram |
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| [Gazebo Guide](docs/gazebo.md) | Gazebo-specific instructions |
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| [PyBullet Guide](docs/pybullet.md) | PyBullet-specific instructions |
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| [ArduPilot Guide](docs/ardupilot.md) | **ArduPilot SITL + MAVProxy** |
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| [Protocol](docs/protocol.md) | Sensor data formats |
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| [Drone Guide](docs/drone_guide.md) | Landing algorithm guide |
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## Network Setup (Remote Simulator)
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Run simulator on one machine, controllers on another:
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**Machine 1 (with display):**
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```bash
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python simulation_host.py # Listens on 0.0.0.0:5555
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```
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**Machine 2 (headless):**
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```bash
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python run_bridge.py --host 192.168.1.100 # Connect to Machine 1
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``` |