134 lines
3.3 KiB
Markdown
134 lines
3.3 KiB
Markdown
# RDC Simulation
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**GPS-Denied Drone Landing Simulation** using ArduPilot and Gazebo.
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## Quick Start
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### Prerequisites
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- Ubuntu 22.04/24.04 (or WSL2 on Windows)
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- Python 3.10+
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- ~10GB disk space
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### Installation
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```bash
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# Clone the repository
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git clone <repo-url> RDC_Simulation
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cd RDC_Simulation
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# Full installation (20-30 minutes)
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./setup/install_ubuntu.sh
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# Reload environment
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source ~/.bashrc
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```
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### Run the Simulation (3 Terminals)
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**Terminal 1 - Start Gazebo FIRST:**
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```bash
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cd ~/RDC_Simulation
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./scripts/run_ardupilot_sim.sh runway
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# WAIT until you see the drone in Gazebo!
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```
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**Terminal 2 - Start ArduCopter SITL:**
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```bash
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source ~/.ardupilot_env
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sim_vehicle.py -v ArduCopter -f gazebo-iris --model JSON --console
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# Wait for "JSON received:" messages (shows Gazebo is connected)
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```
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**Terminal 3 - Run Controller:**
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```bash
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cd ~/RDC_Simulation
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source activate.sh
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python scripts/run_ardupilot.py --pattern square
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```
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### Flight Patterns
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```bash
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# Fly a square pattern (default)
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python scripts/run_ardupilot.py --pattern square --size 5
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# Fly a circle
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python scripts/run_ardupilot.py --pattern circle --size 5
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# Just hover in place
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python scripts/run_ardupilot.py --pattern hover
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# Custom altitude
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python scripts/run_ardupilot.py --pattern square --altitude 10
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# Use GPS mode instead of GPS-denied
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python scripts/run_ardupilot.py --pattern square --gps
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```
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## Project Structure
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```
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RDC_Simulation/
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├── scripts/
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│ ├── run_ardupilot_sim.sh # Launch Gazebo
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│ ├── run_ardupilot_controller.sh # Launch SITL + Controller
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│ └── run_ardupilot.py # Flight controller entry point
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├── src/
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│ ├── drone_controller.py # Main drone controller class
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│ ├── rover_controller.py # Moving landing pad (ROS 2)
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│ └── camera_viewer.py # Camera viewer (ROS 2)
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├── setup/
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│ ├── install_ubuntu.sh # Ubuntu/WSL installer
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│ ├── install_ardupilot.sh # ArduPilot installer
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│ └── install_arch.sh # Arch Linux installer
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├── gazebo/
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│ └── models/ # Custom Gazebo models
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├── docs/ # Documentation
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└── config.py # Configuration
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```
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## Troubleshooting
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### "No JSON sensor message received"
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Gazebo isn't sending data to SITL.
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- **Fix**: Start Gazebo FIRST, wait for it to fully load, THEN start SITL.
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### "empy not found" or wrong Python
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Wrong virtual environment.
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```bash
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source ~/.ardupilot_env
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pip install empy==3.3.4
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```
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### "sim_vehicle.py not found"
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ArduPilot tools not in PATH.
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```bash
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source ~/.ardupilot_env
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```
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### Drone won't arm
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- Make sure SITL is in STABILIZE or GUIDED mode
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- Check for pre-arm errors in MAVProxy console
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- Try in MAVProxy: `arm throttle force`
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### Wrong vehicle type (ArduPlane instead of ArduCopter)
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You see modes like FBWA, FBWB, QSTABILIZE.
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```bash
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# Kill old processes
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pkill -9 -f sim_vehicle
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# Start with explicit ArduCopter
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sim_vehicle.py -v ArduCopter -f gazebo-iris --model JSON --console --wipe-eeprom
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```
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## Documentation
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- [Installation Guide](docs/installation.md)
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- [Docker Guide](docs/docker.md)
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- [ArduPilot Guide](docs/ardupilot.md)
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- [Drone Controller Guide](docs/drone_guide.md)
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- [Architecture](docs/architecture.md)
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## License
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MIT License |