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

Quick Start

Standalone Mode (Any Platform)

source activate.sh  # Linux/macOS
. .\activate.ps1    # Windows

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

Two-Terminal Mode - PyBullet (with ROS 2)

Terminal 1 - Simulator:

python simulation_host.py

Terminal 2 - Bridge + Controllers:

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

Two-Terminal Mode - Gazebo (Linux only)

Terminal 1 - Gazebo:

gz sim gazebo/worlds/drone_landing.sdf

Terminal 2 - Bridge + Controllers:

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

That's it! Only 2 terminals needed.

Installation

Platform	Command
Ubuntu/Debian	`./setup/install_ubuntu.sh`
Arch Linux	`./setup/install_arch.sh`
macOS	`./setup/install_macos.sh`
Windows	`.\setup\install_windows.ps1`

Platform Compatibility

Feature	Ubuntu	Arch	macOS	Windows	WSL2
Standalone	✅	✅	✅	✅	✅
ROS 2 Mode	✅	⚠️	❌	❌	✅
Gazebo	✅	⚠️	❌	❌	✅

Files

File	Description
`standalone_simulation.py`	All-in-one (no ROS 2 required)
`simulation_host.py`	PyBullet simulator server
`run_bridge.py`	PyBullet bridge + Controllers
`run_gazebo.py`	Gazebo bridge + Controllers
`config.py`	Configuration file (edit to customize)
`drone_controller.py`	Drone landing logic (edit this)
`rover_controller.py`	Moving landing pad

Options

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

# ROS 2 mode
python run_bridge.py --pattern circular --speed 0.3 --host <SIMULATOR_IP>

Options:
  --pattern, -p   stationary, linear, circular, square, random
  --speed, -s     Speed in m/s (default: 0.5)
  --amplitude, -a Amplitude in meters (default: 2.0)
  --host, -H      Simulator IP (default: 0.0.0.0)

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	Platform setup guides + WSL2
Architecture	System components
Protocol	Sensor data formats
Drone Guide	Landing algorithm guide

Network Setup (Remote Simulator)

Run simulator on one machine, controllers on another:

Machine 1 (with display):

python simulation_host.py  # Listens on 0.0.0.0:5555

Machine 2 (headless):

python run_bridge.py --host 192.168.1.100  # Connect to Machine 1