# Clone the repository
git clone <repo-url> RDC_Simulation
cd RDC_Simulation

# Install everything (20-30 minutes)
./setup/install_ubuntu.sh --with-ardupilot

# Reload environment
source ~/.bashrc

Run the Simulation

You need 3 terminals:

Terminal 1 - Gazebo:

cd ~/RDC_Simulation
./scripts/run_ardupilot_sim.sh runway
# Wait until the drone appears in Gazebo

Terminal 2 - SITL:

source ~/venv-ardupilot/bin/activate
sim_vehicle.py -v ArduCopter -f gazebo-iris --model JSON --console
# Wait for "Waiting for connection" then telemetry

Terminal 3 - Controller:

source ~/venv-ardupilot/bin/activate
cd ~/RDC_Simulation
python scripts/run_ardupilot.py --pattern square

Flight Patterns

# Fly a square pattern (default)
python scripts/run_ardupilot.py --pattern square --size 5

# Fly a circle
python scripts/run_ardupilot.py --pattern circle --size 5

# Just hover in place
python scripts/run_ardupilot.py --pattern hover

# Custom altitude
python scripts/run_ardupilot.py --pattern square --altitude 10

Project Structure

RDC_Simulation/
├── scripts/
│   ├── run_ardupilot_sim.sh      # Launch Gazebo
│   ├── run_ardupilot_controller.sh # Launch SITL + Controller
│   └── run_ardupilot.py          # Flight controller
├── src/
│   ├── drone_controller.py       # Simple drone controller
│   ├── rover_controller.py       # Moving landing pad (ROS 2)
│   └── camera_viewer.py          # Camera viewer (ROS 2)
├── setup/
│   ├── install_ubuntu.sh         # Ubuntu installer
│   ├── install_ardupilot.sh      # ArduPilot installer
│   └── install_arch.sh           # Arch Linux installer
├── gazebo/
│   └── models/                   # Custom Gazebo models
├── docs/                         # Documentation
└── config.py                     # Configuration

Troubleshooting

"No JSON sensor message received"

Gazebo isn't sending data to SITL.

Fix: Start Gazebo FIRST, wait for it to fully load, THEN start SITL.

"empy not found"

Wrong Python environment.

Fix: source ~/venv-ardupilot/bin/activate

"sim_vehicle.py not found"

ArduPilot tools not in PATH.

Fix: source ~/.ardupilot_env

Can't arm

The drone won't arm or takeoff.

Fix: Make sure you're in GUIDED mode and Gazebo is running.
Check console for pre-arm errors.

Gazebo is slow

Try a lighter world: ./scripts/run_ardupilot_sim.sh runway
Check GPU: glxinfo | grep "OpenGL renderer"

Documentation

License

MIT License