Controller Update

README.md

@@ -1,30 +1,30 @@
 # UAV-UGV Simulation
 
-GPS-Denied Navigation with Geofencing
+**GPS-Denied Navigation with Vision-Based Localization**
 
-A simulation environment for UAV and UGV development using GPS-denied navigation with vision-based localization, while maintaining GPS-based geofencing for safety.
+A ROS 2 simulation environment for UAV and UGV development using GPS-denied navigation with vision-based localization, while maintaining GPS-based geofencing for safety.
 
-## GPS-Denied Navigation
+## Features
 
-**Navigation**: All vehicles navigate using relative positioning only:
-- Visual odometry from cameras
-- Optical flow sensors
-- IMU integration
-- Local coordinate frames
-
-**GPS Usage**: GPS is ONLY used for geofencing (safety boundaries), NOT for navigation or position control.
+- **GPS-Denied Navigation**: Visual odometry, optical flow, and EKF sensor fusion
+- **GPS-Based Geofencing**: Safety boundaries using GPS (navigation remains GPS-free)
+- **Multi-Vehicle Support**: Coordinated UAV and UGV operations
+- **ArduPilot SITL**: Full flight controller simulation
+- **Gazebo Harmonic**: Modern physics simulation
+- **ROS 2 Integration**: Full ROS 2 Humble/Jazzy support
 
 ## Requirements
 
 - Ubuntu 22.04 or 24.04 (WSL2 supported)
 - 16GB RAM recommended
 - 50GB disk space
+- NVIDIA GPU recommended (software rendering available)
 
 ## Installation
 
 ```bash
-git clone https://git.sirblob.co/SirBlob/simulation.git
-cd simulation
+git clone <repository-url> ~/sim/uav_ugv_simulation
+cd ~/sim/uav_ugv_simulation
 bash setup.sh
 ```
 
@@ -32,72 +32,101 @@ Installation takes 20-40 minutes (builds ArduPilot from source).
 
 ## Quick Start
 
+### Autonomous Mode (Recommended)
+
+The UAV automatically arms, takes off, and executes a mission:
+
 ```bash
-cd ~/simulation
+cd ~/sim/uav_ugv_simulation
 source activate_venv.sh
+
+# Hover mission
+bash scripts/run_autonomous.sh --mission hover
+
+# Square pattern
+bash scripts/run_autonomous.sh --mission square
+
+# Circle pattern
+bash scripts/run_autonomous.sh --mission circle
+
+# WSL/Software rendering
+bash scripts/run_autonomous.sh --software-render --mission hover
+```
+
+### Manual Mode (MAVProxy)
+
+```bash
 bash scripts/run_simulation.sh
+# Wait for EKF initialization (~15 seconds), then:
+# mode guided
+# arm throttle force
+# takeoff 5
 ```
 
-For WSL with graphics issues:
-```bash
-bash scripts/run_simulation.sh --software-render
-```
-
-## Controlling the UAV
-
-Once the simulation is running, use MAVProxy commands in the console:
-
-```
-mode guided      # Switch to GUIDED mode
-arm throttle     # Arm the drone
-takeoff 5        # Takeoff to 5 meters
-guided 10 5 -10  # Fly to position (North, East, Down)
-rtl              # Return to launch
-land             # Land
-```
-
-Or via ROS 2:
+### ROS 2 Mode
 
 ```bash
-# Arm
-ros2 service call /mavros/cmd/arming mavros_msgs/srv/CommandBool "{value: true}"
-
-# Takeoff
-ros2 service call /mavros/cmd/takeoff mavros_msgs/srv/CommandTOL "{altitude: 5}"
-
-# Fly to position (local coordinates)
-ros2 topic pub /mavros/setpoint_position/local geometry_msgs/PoseStamped \
-  "{header: {frame_id: 'map'}, pose: {position: {x: 10, y: 5, z: 5}}}"
+source /opt/ros/humble/setup.bash
+ros2 launch uav_ugv_simulation full_simulation.launch.py
 ```
 
-## Simulation Options
+## Mission Types
 
-```bash
-# Default
-bash scripts/run_simulation.sh
+| Mission | Description |
+|---------|-------------|
+| `hover` | Take off, hover for 30 seconds, land |
+| `square` | Fly a 5m square pattern |
+| `circle` | Fly a circular pattern |
 
-# Custom world
-bash scripts/run_simulation.sh --world iris_runway
+## GPS-Denied Navigation
 
-# Rover instead of copter
-bash scripts/run_simulation.sh --vehicle Rover
+**Navigation** uses only relative positioning:
+- Visual odometry from cameras
+- Optical flow sensors
+- IMU integration
+- Local coordinate frames (NED)
 
-# Software rendering (WSL)
-bash scripts/run_simulation.sh --software-render
+**GPS is ONLY used for geofencing** (safety boundaries), NOT for navigation or position control.
+
+## Project Structure
+
+```
+uav_ugv_simulation/
+├── setup.sh                    # Installation script
+├── scripts/
+│   ├── run_autonomous.sh       # Autonomous simulation
+│   ├── run_simulation.sh       # Manual simulation
+│   └── kill_simulation.sh      # Cleanup
+├── src/
+│   ├── control/                # UAV/UGV controllers
+│   ├── vision/                 # Visual odometry, optical flow
+│   ├── localization/           # EKF sensor fusion
+│   ├── navigation/             # Path planning
+│   └── safety/                 # Geofencing, failsafe
+├── launch/                     # ROS 2 launch files
+├── config/                     # Configuration files
+├── models/                     # Gazebo models
+└── worlds/                     # Gazebo worlds
 ```
 
-## Uninstall
+## Commands
 
-```bash
-bash scripts/uninstall.sh         # Remove ArduPilot and plugin
-bash scripts/uninstall.sh --all   # Remove everything
-```
+| Command | Description |
+|---------|-------------|
+| `bash scripts/run_autonomous.sh` | Run autonomous simulation |
+| `bash scripts/run_simulation.sh` | Run manual simulation |
+| `bash scripts/kill_simulation.sh` | Kill all processes |
+| `bash scripts/uninstall.sh` | Uninstall ArduPilot |
 
 ## Documentation
 
 - [Setup Guide](docs/setup_guide.md)
-- [WSL Setup Guide](docs/wsl_setup_guide.md)
 - [Usage Guide](docs/usage.md)
 - [Architecture](docs/architecture.md)
 - [GPS-Denied Navigation](docs/gps_denied_navigation.md)
+- [WSL Setup](docs/wsl_setup_guide.md)
 - [Troubleshooting](docs/troubleshooting.md)
+
+## License
+
+MIT License