Scripts Update

2026-02-09 04:52:32 +00:00
parent 2d3b795d82
commit 79f748d35d
10 changed files with 861 additions and 1376 deletions
--- a/README.md
+++ b/README.md
@@ -1,185 +1,103 @@
-# UAV-UGV Gazebo SITL Simulation
-## GPS-Denied Navigation with Geofencing
+# UAV-UGV Simulation

-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.
+GPS-Denied Navigation with Geofencing

-## Key Feature: GPS-Denied Navigation
+A simulation environment for UAV and UGV development using GPS-denied navigation with vision-based localization, while maintaining GPS-based geofencing for safety.

-**Navigation Mode**: All vehicles navigate using **relative positioning** only:
+## GPS-Denied Navigation
+
+**Navigation**: All vehicles navigate using relative positioning only:
 - Visual odometry from cameras
 - Optical flow sensors
 - IMU integration
- Visual landmark tracking
 - Local coordinate frames

-**GPS Usage**: GPS is ONLY used for:
- Geofencing (safety boundaries)
- NOT used for waypoint navigation
- NOT used for position control
+**GPS Usage**: GPS is ONLY used for geofencing (safety boundaries), NOT for navigation or position control.

-## System Requirements
+## 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
+- Ubuntu 22.04 or 24.04 (WSL2 supported)
+- 16GB RAM recommended
+- 50GB disk space

-### Supported Platforms
- Native Ubuntu Linux
- Windows WSL2 with Ubuntu 22.04
-
-## Installation (One Command)
+## Installation

 ```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.
+Installation takes 20-40 minutes (builds ArduPilot from source).

 ## Quick Start

 ```bash
-# Navigate to project
-cd ~/simulation  # or wherever you cloned it
-
-# Activate environment (sets up ROS 2, Gazebo, ArduPilot, Python)
+cd ~/simulation
 source activate_venv.sh
-
-# Run simulation
 bash scripts/run_simulation.sh
+```

-# For WSL (if graphics issues):
+For WSL with graphics issues:
+```bash
 bash scripts/run_simulation.sh --software-render
 ```

 ## Controlling the UAV

-Once the simulation is running, control via ROS 2:
+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:

 ```bash
-# Arm the drone
+# Arm
 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
+# Takeoff
 ros2 service call /mavros/cmd/takeoff mavros_msgs/srv/CommandTOL "{altitude: 5}"

-# Fly to position (LOCAL coordinates - no GPS!)
+# 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}}}"
-
-# Land
-ros2 service call /mavros/cmd/land mavros_msgs/srv/CommandTOL "{}"
 ```

-## Features
-
- **Iris quadcopter** with dual cameras (forward + downward)
- **Ground vehicle (UGV)** with vision sensors
- **Visual odometry** - camera-based position estimation
- **Optical flow** - velocity estimation from downward camera
- **GPS geofencing** - safety boundaries only
- **ArduPilot SITL** - real flight controller firmware
- **MAVROS** - ROS 2 interface for MAVLink
- **Multiple worlds** - indoor warehouse, urban canyon
-
-## GPS-Denied Navigation Architecture
-
-```
-┌─────────────────────────────────────────────────────┐
-│              Vision Sensors                         │
-│  Forward Camera + Downward Camera + Optical Flow    │
-└─────────────────┬───────────────────────────────────┘
-                  │
-                  ▼
-┌─────────────────────────────────────────────────────┐
-│         Visual Odometry & Feature Tracking          │
-│  Estimates relative position from camera motion     │
-└─────────────────┬───────────────────────────────────┘
-                  │
-                  ▼
-┌─────────────────────────────────────────────────────┐
-│         Position Estimator (EKF Fusion)             │
-│  Fuses: Visual Odom + Optical Flow + IMU            │
-│  Output: Local position estimate (relative)         │
-└─────────────────┬───────────────────────────────────┘
-                  │
-                  ▼
-┌─────────────────────────────────────────────────────┐
-│         ArduPilot Flight Controller                 │
-│  Receives position via MAVROS (external nav)       │
-│  Controls motors based on local setpoints           │
-└─────────────────────────────────────────────────────┘
-```
-
-## Project Structure
-
-```
-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) - 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)
+# Default
 bash scripts/run_simulation.sh

 # Custom world
-bash scripts/run_simulation.sh --world worlds/indoor_warehouse.world
+bash scripts/run_simulation.sh --world iris_runway

 # Rover instead of copter
-bash scripts/run_simulation.sh --vehicle rover
+bash scripts/run_simulation.sh --vehicle Rover

-# Software rendering (WSL/no GPU)
+# Software rendering (WSL)
 bash scripts/run_simulation.sh --software-render
 ```

-## Key Differences from GPS Navigation
+## Uninstall

-| Aspect | GPS Navigation | This Project (GPS-Denied) |
-|--------|---------------|---------------------------|
-| Position Source | GPS satellites | Visual odometry + sensors |
-| Waypoint Type | GPS coordinates | Relative coordinates (x,y,z) |
-| Reference Frame | Global (lat/lon) | Local (relative to start) |
-| Indoor Capability | No | Yes |
-| Drift | Minimal | Accumulates over time |
-| Geofencing | GPS-based | GPS-based (safety only) |
+```bash
+bash scripts/uninstall.sh         # Remove ArduPilot and plugin
+bash scripts/uninstall.sh --all   # Remove everything
+```
+
+## 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)
+- [Troubleshooting](docs/troubleshooting.md)