RDC_Simulation/docs/gazebo.md

Gazebo Simulation Guide

Quick Start (2 Terminals)

Terminal 1:

ros2 launch gazebo/launch/drone_landing.launch.py

Terminal 2:

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

Camera Feed

python camera_viewer.py --topic /drone/camera

Options

--pattern   stationary, linear, circular, square, random
--speed     Rover speed in m/s (default: 0.5)
--no-rover  Disable rover movement

Sensors

Sensor	Source
IMU	Gazebo odometry
Altimeter	Z position
Camera	Camera sensor
Landing Pad	Relative position

ROS 2 Topics

Topic	Direction
/cmd_vel	Your commands → Drone
/drone/telemetry	Sensors → You
/drone/camera	Camera images

Headless Mode (WSL2)

ign gazebo -s gazebo/worlds/drone_landing.sdf

Troubleshooting

Drone falls: Check run_gazebo.py is running

No camera:

python camera_viewer.py --list  # Find topics

Model not found:

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