GPS-Denied Drone Landing Simulation
ArduPilot + ROS 2 + Gazebo (ARG) simulation for landing on a moving platform.
Quick Start (2 Terminals)
Terminal 1 - Gazebo:
source activate.sh
./scripts/run_ardupilot_sim.sh runway
Terminal 2 - Controller:
source activate.sh
./scripts/run_ardupilot_controller.sh
World Options
./scripts/run_ardupilot_sim.sh runway # Default (outdoor)
./scripts/run_ardupilot_sim.sh warehouse # Indoor
./scripts/run_ardupilot_sim.sh custom # Custom landing pad
./scripts/run_ardupilot_sim.sh my_world # gazebo/worlds/my_world.sdf
Installation
Ubuntu (Native or WSL2)
./setup/install_ubuntu.sh
./setup/install_ardupilot.sh
source ~/.bashrc
Windows (via WSL2)
# PowerShell as Administrator
wsl --install -d Ubuntu-24.04
# Restart, then in Ubuntu terminal:
./setup/install_ubuntu.sh --with-ardupilot
macOS
./setup/install_macos.sh
python standalone_simulation.py # Gazebo not supported
See Installation Guide for detailed platform instructions.
Project Structure
simulation/
├── config.py
├── src/
│ └── drone_controller.py # Your algorithm
├── scripts/
│ ├── run_ardupilot_sim.sh
│ └── run_ardupilot_controller.sh
├── gazebo/
│ ├── worlds/ # Your worlds
│ └── models/ # Your models
├── setup/
└── docs/
3-Phase Mission
| Phase | Action |
|---|---|
| SEARCH | Find QR code on rover |
| COMMAND | Send commands to rover |
| LAND | Land on rover |
Environment Setup
Always activate the environment before running:
source activate.sh
This sets up:
- ROS 2 environment
- ArduPilot venv (with empy, pymavlink, etc.)
- Gazebo resource paths
- ArduPilot tools path
Troubleshooting
sim_vehicle.py not found:
source ~/.ardupilot_env
empy not found:
source ~/venv-ardupilot/bin/activate
pip install empy==3.3.4
Gazebo slow (software rendering):
glxinfo | grep "OpenGL renderer"
# Should show GPU, not "llvmpipe"
Documentation
- Installation - Full setup for all platforms + WSL
- ArduPilot Guide - SITL setup and troubleshooting
- Drone Controller - Landing algorithm
- Custom Worlds - Create Gazebo environments
- Blender Models - 3D model workflow
- Architecture - System design