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# UAV-UGV Gazebo SITL Simulation
## GPS-Denied Navigation with Geofencing
A complete simulation environment for UAV (drone) and UGV (ground vehicle) development using **GPS-denied navigation** with vision-based localization, while maintaining GPS-based geofencing for safety.
A production-ready simulation environment for UAV (drone) and UGV (ground vehicle) development using **GPS-denied navigation** with vision-based localization, while maintaining GPS-based geofencing for safety.
## Key Feature: GPS-Denied Navigation
@@ -14,15 +14,78 @@ A complete simulation environment for UAV (drone) and UGV (ground vehicle) devel
**GPS Usage**: GPS is ONLY used for:
- Geofencing (safety boundaries)
- Initial position reference (optional)
- NOT used for waypoint navigation
- NOT used for position control
This simulates real-world GPS-denied environments like:
- Indoor spaces
- Urban canyons
- GPS-jammed areas
- Under bridges/tunnels
## System Requirements
- **Ubuntu 22.04 LTS** (or 24.04)
- **16GB RAM** recommended (8GB minimum)
- **50GB disk space** (for ArduPilot + Gazebo)
- NVIDIA GPU recommended but not required
### Supported Platforms
- Native Ubuntu Linux
- Windows WSL2 with Ubuntu 22.04
## Installation (One Command)
```bash
# Clone the repository
git clone https://git.sirblob.co/SirBlob/simulation.git
cd simulation
# Run the complete setup (installs everything)
bash setup.sh
```
The setup script installs:
- ROS 2 Humble
- Gazebo 11
- ArduPilot SITL
- ardupilot_gazebo plugin
- MAVROS
- Python dependencies
**Note**: Full installation takes 20-40 minutes depending on your internet speed.
## Quick Start
```bash
# Navigate to project
cd ~/simulation # or wherever you cloned it
# Activate environment (sets up ROS 2, Gazebo, ArduPilot, Python)
source activate_venv.sh
# Run simulation
bash scripts/run_simulation.sh
# For WSL (if graphics issues):
bash scripts/run_simulation.sh --software-render
```
## Controlling the UAV
Once the simulation is running, control via ROS 2:
```bash
# Arm the drone
ros2 service call /mavros/cmd/arming mavros_msgs/srv/CommandBool "{value: true}"
# Set GUIDED mode (allows position control)
ros2 service call /mavros/set_mode mavros_msgs/srv/SetMode "{custom_mode: 'GUIDED'}"
# Takeoff to 5 meters
ros2 service call /mavros/cmd/takeoff mavros_msgs/srv/CommandTOL "{altitude: 5}"
# Fly to position (LOCAL coordinates - no GPS!)
ros2 topic pub /mavros/setpoint_position/local geometry_msgs/PoseStamped \
"{header: {frame_id: 'map'}, pose: {position: {x: 10, y: 5, z: 5}}}"
# Land
ros2 service call /mavros/cmd/land mavros_msgs/srv/CommandTOL "{}"
```
## Features
@@ -30,73 +93,10 @@ This simulates real-world GPS-denied environments like:
- **Ground vehicle (UGV)** with vision sensors
- **Visual odometry** - camera-based position estimation
- **Optical flow** - velocity estimation from downward camera
- **Landmark navigation** - visual feature tracking
- **GPS geofencing** - safety boundaries only
- **Single command launch** - everything runs from one script
- **NVIDIA GPU acceleration** support
- **Python virtual environment** for isolated dependencies
- **GPS-denied worlds** - indoor and urban environments
## System Requirements
- **Ubuntu 22.04 LTS** (or 24.04 with ROS 2 Jazzy)
- **Python 3.10+**
- **ROS 2 Humble** (or Jazzy for Ubuntu 24.04)
- 8GB RAM minimum (16GB recommended)
- NVIDIA GPU recommended
### WSL2 Support (Windows)
This project supports **Windows Subsystem for Linux (WSL2)**:
- Windows 10 (21H2+) or Windows 11
- WSL2 with Ubuntu 22.04
- GUI support via WSLg (Windows 11) or VcXsrv (Windows 10)
- See [WSL Setup Guide](docs/wsl_setup_guide.md) for detailed instructions
## Quick Start
### Linux (Native)
```bash
# 1. Clone repository
cd ~/ros2_ws/src
git clone https://git.sirblob.co/SirBlob/simulation.git uav_ugv_simulation
cd uav_ugv_simulation
# 2. Run setup (installs everything)
bash setup.sh
# 3. Restart terminal or reload bash
source ~/.bashrc
# 4. Activate virtual environment and run
source activate_venv.sh
bash scripts/run_simulation.sh
```
### WSL2 (Windows)
```bash
# 1. Clone repository
cd ~
git clone https://git.sirblob.co/SirBlob/simulation.git uav_ugv_simulation
cd uav_ugv_simulation
# 2. Run WSL-specific setup
bash scripts/setup_wsl.sh
# 3. Restart terminal
exit
# Reopen WSL terminal
# 4. Run simulation
cd ~/uav_ugv_simulation
source activate_venv.sh
bash scripts/run_simulation.sh
# If graphics are slow, use software rendering:
bash scripts/run_simulation.sh --software-render
```
- **ArduPilot SITL** - real flight controller firmware
- **MAVROS** - ROS 2 interface for MAVLink
- **Multiple worlds** - indoor warehouse, urban canyon
## GPS-Denied Navigation Architecture
@@ -121,103 +121,57 @@ bash scripts/run_simulation.sh --software-render
│
▼
┌─────────────────────────────────────────────────────┐
│ Navigation Controller │
│ Commands: "Move 5m forward, 3m right" │
│ (Relative coordinates only, NO GPS waypoints) │
│ ArduPilot Flight Controller │
│ Receives position via MAVROS (external nav) │
│ Controls motors based on local setpoints │
└─────────────────────────────────────────────────────┘
SEPARATE SAFETY LAYER (GPS-based):
┌─────────────────────────────────────────────────────┐
│ Geofence Monitor │
│ GPS position → Check against boundaries │
│ If outside: Emergency RTL or hold │
└─────────────────────────────────────────────────────┘
```
## Navigation Modes
### 1. **Vision-Only Mode** (Default)
- Uses camera for all position estimates
- Suitable for structured environments
- Requires good lighting and visual features
### 2. **Optical Flow Mode**
- Uses downward camera for velocity
- Works well at low altitudes
- Good for hovering and slow flight
### 3. **Hybrid Mode**
- Combines visual odometry + optical flow + IMU
- Most robust approach
- Recommended for complex missions
## Geofencing Configuration
Edit `config/geofence_params.yaml`:
```yaml
geofence:
enabled: true
use_gps: true # GPS ONLY for geofence
# Define boundaries (GPS coordinates)
fence_type: "polygon" # or "circle"
# Polygon fence (lat/lon points)
polygon_points:
- {lat: 47.397742, lon: 8.545594} # Point 1
- {lat: 47.398242, lon: 8.545594} # Point 2
- {lat: 47.398242, lon: 8.546094} # Point 3
- {lat: 47.397742, lon: 8.546094} # Point 4
# Or circle fence
center_lat: 47.397742
center_lon: 8.545594
radius_meters: 100
# Actions on breach
action: "RTL" # Return to launch
max_altitude: 50 # meters
```
## Example Mission (Relative Coordinates)
```python
# Example: Navigate to visual landmark
# Define mission in RELATIVE coordinates
mission_waypoints = [
{"x": 0, "y": 0, "z": 5}, # Takeoff to 5m
{"x": 10, "y": 0, "z": 5}, # Move 10m forward
{"x": 10, "y": 5, "z": 5}, # Move 5m right
{"x": 0, "y": 5, "z": 5}, # Return to start (offset)
{"x": 0, "y": 0, "z": 5}, # Back to takeoff point
{"x": 0, "y": 0, "z": 0}, # Land
]
# GPS is NEVER used for these waypoints
# Position estimated from visual odometry
```
## Project Structure
- `launch/` - ROS 2 launch files
- `worlds/` - Gazebo world files (indoor, urban)
- `models/` - Robot models (Iris with cameras, UGV)
- `src/vision/` - Visual odometry, optical flow
- `src/localization/` - Position estimation, sensor fusion
- `src/navigation/` - Path planning (relative coordinates)
- `src/safety/` - Geofencing (GPS-based)
- `config/` - Configuration files
```
simulation/
├── setup.sh # One-command installation
├── activate_venv.sh # Environment activation
├── scripts/
│ ├── run_simulation.sh # Launch full simulation
│ └── kill_simulation.sh # Stop all processes
├── worlds/ # Gazebo world files
├── models/ # UAV and UGV models
├── src/
│ ├── vision/ # Visual odometry, optical flow
│ ├── localization/ # EKF sensor fusion
│ ├── navigation/ # Path planning
│ ├── control/ # UAV/UGV controllers
│ └── safety/ # Geofencing
├── config/ # Configuration files
└── docs/ # Documentation
```
## Documentation
- [Setup Guide](docs/setup_guide.md) - Linux installation
- [WSL Setup Guide](docs/wsl_setup_guide.md) - Windows WSL2 installation
- [Usage Guide](docs/usage.md)
- [Architecture Overview](docs/architecture.md)
- [GPS-Denied Navigation](docs/gps_denied_navigation.md)
- [Troubleshooting](docs/troubleshooting.md)
- [Setup Guide](docs/setup_guide.md) - Detailed installation
- [WSL Setup Guide](docs/wsl_setup_guide.md) - Windows WSL2
- [Usage Guide](docs/usage.md) - How to use
- [Architecture](docs/architecture.md) - System design
- [GPS-Denied Navigation](docs/gps_denied_navigation.md) - Navigation approach
- [Troubleshooting](docs/troubleshooting.md) - Common issues
## Simulation Options
```bash
# Default (ArduPilot Iris world)
bash scripts/run_simulation.sh
# Custom world
bash scripts/run_simulation.sh --world worlds/indoor_warehouse.world
# Rover instead of copter
bash scripts/run_simulation.sh --vehicle rover
# Software rendering (WSL/no GPU)
bash scripts/run_simulation.sh --software-render
```
## Key Differences from GPS Navigation
@@ -229,25 +183,3 @@ mission_waypoints = [
| Indoor Capability | No | Yes |
| Drift | Minimal | Accumulates over time |
| Geofencing | GPS-based | GPS-based (safety only) |
| Use Cases | Outdoor, open sky | Indoor, urban, GPS-jammed |
## Running Different Scenarios
```bash
# Indoor warehouse (no GPS available)
bash scripts/run_simulation.sh --world worlds/indoor_warehouse.world
# Urban canyon (degraded GPS)
bash scripts/run_simulation.sh --world worlds/urban_canyon.world
# Open outdoor (GPS available but not used for nav)
bash scripts/run_simulation.sh --world worlds/empty_custom.world
```
## License
MIT License
## Contributing
Contributions welcome! Please ensure all navigation remains GPS-denied (except geofencing).