96 lines
4.7 KiB
Markdown
96 lines
4.7 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 **PyBullet** and **Gazebo** simulators.
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## Quick Start
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```bash
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# Install (Ubuntu)
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./setup/install_ubuntu.sh
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source activate.sh
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# Run PyBullet simulation
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python simulation_host.py # Terminal 1: Simulator
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python ros_bridge.py # Terminal 2: ROS bridge
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python controllers.py # Terminal 3: Drone + Rover controllers
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# With moving rover
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python controllers.py --pattern circular --speed 0.3
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```
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## Architecture
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```
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┌─────────────────────────────────────────────────────────────────────────┐
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│ ┌──────────────────┐ ┌──────────────────────────┐ │
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│ │ simulation_host │◄── UDP:5555 ──────►│ ros_bridge.py │ │
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│ │ (PyBullet) │ └────────────┬─────────────┘ │
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│ └──────────────────┘ │ │
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│ OR │ │
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│ ┌──────────────────┐ ┌────────────┴─────────────┐ │
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│ │ Gazebo │◄── ROS Topics ────►│ gazebo_bridge.py │ │
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│ └──────────────────┘ └────────────┬─────────────┘ │
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│ │ │
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│ ┌────────────▼─────────────┐ │
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│ │ controllers.py │ │
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│ │ ┌─────────────────────┐ │ │
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│ │ │ DroneController │ │ │
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│ │ │ RoverController │ │ │
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│ │ └─────────────────────┘ │ │
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│ └──────────────────────────┘ │
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└─────────────────────────────────────────────────────────────────────────┘
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```
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## Files
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| File | Description |
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|------|-------------|
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| `simulation_host.py` | PyBullet physics simulator |
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| `ros_bridge.py` | UDP ↔ ROS 2 bridge |
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| `gazebo_bridge.py` | Gazebo ↔ ROS 2 bridge |
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| `controllers.py` | **Runs drone + rover together** |
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| `drone_controller.py` | Drone landing logic (edit this) |
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| `rover_controller.py` | Moving landing pad |
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## Controller Options
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```bash
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python controllers.py --help
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Options:
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--pattern, -p Rover pattern: stationary, linear, circular, random, square
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--speed, -s Rover speed in m/s (default: 0.5)
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--amplitude, -a Rover amplitude in meters (default: 2.0)
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```
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## GPS-Denied Sensors
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The drone has no GPS. Available sensors:
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| Sensor | Data |
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|--------|------|
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| **IMU** | Orientation, angular velocity |
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| **Altimeter** | Altitude, vertical velocity |
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| **Velocity** | Estimated horizontal velocity |
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| **Camera** | 320x240 downward-facing image (base64 JPEG) |
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| **Landing Pad** | Relative position when visible (may be null) |
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## Documentation
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| Document | Description |
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|----------|-------------|
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| [Installation](docs/installation.md) | Setup for Ubuntu, macOS, Windows |
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| [Architecture](docs/architecture.md) | System components and data flow |
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| [Protocol](docs/protocol.md) | Sensor data formats |
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| [Drone Guide](docs/drone_guide.md) | How to implement landing logic |
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| [Rover Controller](docs/rover_controller.md) | Movement patterns |
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| [PyBullet](docs/pybullet.md) | PyBullet-specific setup |
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| [Gazebo](docs/gazebo.md) | Gazebo-specific setup |
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## Getting Started
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1. Read [docs/drone_guide.md](docs/drone_guide.md)
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2. Edit `drone_controller.py`
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3. Implement `calculate_landing_maneuver()`
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4. Run: `python controllers.py --pattern stationary`
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5. Increase difficulty: `python controllers.py --pattern circular` |