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Camera Sim Update

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This commit is contained in:
SirBlobby
2026-02-12 14:29:32 -05:00
parent 0e427f3597
commit 92da41138b
27 changed files with 1353 additions and 1317 deletions
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6
config/ardupilot_gps_denied.parm
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@@ -70,3 +70,9 @@ FS_GCS_ENABLE 0
# ====================
LOG_BITMASK 176126
LOG_DISARMED 0
# ====================
# Landing Speed
# ====================
LAND_SPEED 150 # Final descent cm/s (default 50)
LAND_SPEED_HIGH 250 # Initial descent cm/s (default 0=WPNAV_SPEED_DN)

76
config/geofence_params.yaml
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@@ -1,76 +0,0 @@
# Geofence Configuration
# GPS is ONLY used for safety boundaries, NOT navigation
/**:
ros__parameters:
geofence:
enabled: true
# Fence type
type: "polygon" # Options: "polygon", "circle", "cylinder"
# Polygon fence (GPS coordinates for safety boundary)
polygon_fence:
points:
- latitude: 47.397742
longitude: 8.545594
- latitude: 47.398242
longitude: 8.545594
- latitude: 47.398242
longitude: 8.546094
- latitude: 47.397742
longitude: 8.546094
# Close the polygon automatically
auto_close: true
# Circular fence (alternative to polygon)
circle_fence:
center_latitude: 47.397742
center_longitude: 8.545594
radius_meters: 100
# Cylinder fence (circle + altitude limits)
cylinder_fence:
center_latitude: 47.397742
center_longitude: 8.545594
radius_meters: 100
min_altitude: 0 # meters AGL
max_altitude: 50 # meters AGL
# Altitude limits (applies to all fence types)
altitude_limits:
min_altitude: 0.0 # meters AGL
max_altitude: 50.0 # meters AGL
enable_floor: true
enable_ceiling: true
# Fence actions
actions:
on_breach: "RTL" # Options: "RTL", "LAND", "HOLD", "ALERT_ONLY"
warning_distance: 10.0 # meters from fence
warning_action: "ALERT" # Options: "ALERT", "SLOW_DOWN"
# Monitoring
check_rate: 10 # Hz
consecutive_breaches_required: 3 # Require 3 consecutive breaches before action
# Visualization
publish_markers: true
marker_topic: "/geofence/markers"
marker_color:
safe: {r: 0.0, g: 1.0, b: 0.0, a: 0.5}
warning: {r: 1.0, g: 1.0, b: 0.0, a: 0.7}
breach: {r: 1.0, g: 0.0, b: 0.0, a: 0.9}
# Multi-vehicle support
vehicles:
uav:
enabled: true
namespace: "/uav"
gps_topic: "/uav/mavros/global_position/global"
ugv:
enabled: true
namespace: "/ugv"
gps_topic: "/ugv/gps/fix"

19
config/gui.config Normal file
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@@ -0,0 +1,19 @@
<!-- Camera feed plugins (added via --gui-config on top of defaults) -->
<plugin filename="ImageDisplay" name="Gimbal Camera">
<gz-gui>
<title>Gimbal Camera</title>
<property type="string" key="state">docked</property>
</gz-gui>
<topic>/world/uav_ugv_search/model/iris_with_gimbal/model/gimbal/link/pitch_link/sensor/camera/image</topic>
<topic_picker>true</topic_picker>
</plugin>
<plugin filename="ImageDisplay" name="Downward Camera">
<gz-gui>
<title>Downward Camera</title>
<property type="string" key="state">docked</property>
</gz-gui>
<topic>/uav/camera/downward</topic>
<topic_picker>true</topic_picker>
</plugin>

72
config/mavros_params.yaml
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@@ -1,72 +0,0 @@
# MAVROS Configuration for GPS-Denied Navigation
# GPS is DISABLED for navigation, ENABLED only for geofencing
/**:
ros__parameters:
use_sim_time: true
# Connection
fcu_protocol: "v2.0"
# System
system_id: 1
component_id: 1
# Time sync
time:
time_ref_source: "fcu"
timesync_mode: MAVLINK
timesync_avg_alpha: 0.6
# GPS Settings - ONLY for geofencing
gps:
# Disable GPS for navigation
use_gps_for_navigation: false
# Enable GPS only for geofence
enable_gps_geofence: true
# Local position (PRIMARY navigation source)
local_position:
frame_id: "map"
tf:
send: true
frame_id: "map"
child_frame_id: "base_link"
# Use local odometry, NOT GPS
use_vision: true # Will use our visual odometry
# Vision pose input (from visual odometry)
vision_pose:
tf:
listen: false
frame_id: "odom"
child_frame_id: "base_link"
# Vision speed input (from optical flow)
vision_speed:
listen_twist: true
# Setpoint configuration
setpoint_raw:
thrust_scaling: 1.0
setpoint_position:
tf:
listen: false
# Use LOCAL_NED frame (relative positioning)
mav_frame: 1 # MAV_FRAME_LOCAL_NED
setpoint_velocity:
mav_frame: 8 # MAV_FRAME_BODY_NED (body-relative)
# Disable GPS-based modes
# Only allow: MANUAL, STABILIZE, ALT_HOLD, GUIDED (local), LOITER (local)
allowed_modes:
- "MANUAL"
- "STABILIZE"
- "ALT_HOLD"
- "GUIDED"
- "LOITER"
- "RTL" # Returns to LOCAL origin, not GPS home

12
config/missions/hover.yaml Normal file
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@@ -0,0 +1,12 @@
name: hover
description: Take off and hold position
altitude: 5.0
duration: 10.0
steps:
- action: takeoff
altitude: 5.0
- action: hover
duration: 10.0
- action: land

21
config/missions/search.yaml Normal file
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@@ -0,0 +1,21 @@
name: search
description: Spiral search pattern to find and land on UGV
altitude: 5.0
search:
pattern: spiral
initial_leg: 3.0
leg_increment: 2.0
max_legs: 12
detection_radius: 2.0
steps:
- action: takeoff
altitude: 5.0
- action: search_spiral
initial_leg: 3.0
leg_increment: 2.0
max_legs: 12
- action: land_on_ugv
detection_radius: 2.0

26
config/missions/square.yaml Normal file
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@@ -0,0 +1,26 @@
name: square
description: Fly a square pattern
altitude: 5.0
side_length: 5.0
steps:
- action: takeoff
altitude: 5.0
- action: move_rel
x: 5.0
y: 0.0
z: 0.0
- action: move_rel
x: 0.0
y: 5.0
z: 0.0
- action: move_rel
x: -5.0
y: 0.0
z: 0.0
- action: move_rel
x: 0.0
y: -5.0
z: 0.0
- action: land

36
config/properties.yaml Normal file
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@@ -0,0 +1,36 @@
simulation:
world: uav_ugv_search.sdf
software_render: auto
physics:
max_step_size: 0.002
real_time_factor: 1.0
sensor_noise:
enabled: true
position_stddev: 0.05
velocity_stddev: 0.1
gyro_stddev: 0.0002
accel_stddev: 0.017
gps:
enabled: true
update_rate: 5
noise_stddev: 2.0
purpose: geofence_only
initial_positions:
uav:
x: 0.0
y: 0.0
z: 0.195
yaw: 90.0
ugv:
x: 5.0
y: 5.0
z: 0.0
yaw: 0.0
logging:
enabled: true
log_directory: logs

86
config/simulation_config.yaml
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@@ -1,86 +0,0 @@
# General Simulation Configuration
/**:
ros__parameters:
simulation:
# Use Gazebo ground truth for "perfect" position estimation
# In real world, this would come from visual odometry
use_gazebo_ground_truth: true # Set false for realistic VO errors
# Add noise to simulate real sensors
add_sensor_noise: true
# Noise parameters
noise:
position_stddev: 0.05 # meters
velocity_stddev: 0.1 # m/s
imu_gyro_stddev: 0.0002 # rad/s
imu_accel_stddev: 0.017 # m/s^2
# GPS simulation (for geofence only)
gps:
enabled: true # Only for geofencing
update_rate: 5 # Hz
noise_stddev: 2.0 # meters (realistic GPS error)
# Real-time factor (1.0 = real-time)
real_time_factor: 1.0
# Physics settings
physics:
engine: "ode"
max_step_size: 0.001
real_time_update_rate: 1000
# World configuration
world:
name: "empty_custom"
gravity: 9.81
# Lighting (affects vision)
lighting:
ambient_level: 0.4
shadows: true
sun_angle: 45.0 # degrees
# Ground plane
ground:
size: [100.0, 100.0] # meters
texture: "ground_plane"
friction: 1.0
# Initial positions (LOCAL coordinates)
initial_positions:
uav:
x: 0.0
y: 0.0
z: 0.2 # Start slightly above ground
roll: 0.0
pitch: 0.0
yaw: 0.0
ugv:
x: 5.0
y: 0.0
z: 0.0
roll: 0.0
pitch: 0.0
yaw: 1.57 # 90 degrees (facing +Y)
# Visualization
visualization:
show_trajectory: true
trajectory_length: 1000 # points
show_local_frame: true
show_velocity_vector: true
# Data logging
logging:
enabled: true
log_directory: "~/.ros/uav_ugv_logs"
log_topics:
- "/uav/visual_odometry/pose"
- "/uav/mavros/local_position/pose"
- "/geofence/status"
bag_recording: false

74
config/uav.yaml Normal file
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@@ -0,0 +1,74 @@
connection:
sim: "tcp:127.0.0.1:5760"
real: "/dev/ttyAMA0"
baud: 57600
flight:
takeoff_altitude: 5.0
max_altitude: 15.0
min_altitude: 3.0
max_velocity: 2.0
max_acceleration: 1.0
max_climb_rate: 1.0
max_yaw_rate: 45.0
navigation:
frame: LOCAL_NED
waypoint_radius: 0.5
position_hold_radius: 0.2
home_mode: local
vision:
forward_camera:
enabled: true
frame_rate: 30
resolution: [640, 480]
downward_camera:
enabled: true
frame_rate: 30
resolution: [320, 240]
visual_odometry:
enabled: true
method: ORB
min_features: 100
max_features: 500
optical_flow:
enabled: true
method: Lucas-Kanade
window_size: 15
min_altitude: 0.3
max_altitude: 10.0
landmark_detection:
enabled: true
method: ArUco
marker_size: 0.15
position_estimation:
method: EKF
update_rate: 50
weights:
visual_odometry: 0.6
optical_flow: 0.3
imu: 0.1
process_noise:
position: 0.1
velocity: 0.5
measurement_noise:
visual_odom: 0.05
optical_flow: 0.1
imu: 0.2
obstacle_avoidance:
enabled: true
detection_range: 5.0
safety_margin: 1.0
safety:
geofence:
enabled: true
action_on_breach: RTL
max_altitude: 10
radius: 20
failsafe:
vision_loss_timeout: 5.0
action_on_vision_loss: HOLD

105
config/uav_params.yaml
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@@ -1,105 +0,0 @@
# UAV Configuration - GPS-Denied Navigation
/**:
ros__parameters:
# Vision parameters for navigation
vision:
# Forward camera (for visual odometry)
forward_camera:
enabled: true
topic: "/uav/camera/forward/image_raw"
info_topic: "/uav/camera/forward/camera_info"
frame_rate: 30
# Downward camera (for optical flow)
downward_camera:
enabled: true
topic: "/uav/camera/downward/image_raw"
info_topic: "/uav/camera/downward/camera_info"
frame_rate: 30
# Visual odometry settings
visual_odometry:
enabled: true
method: "ORB" # Options: ORB, SIFT, SURF
min_features: 100
max_features: 500
feature_quality: 0.01
min_distance: 10
# Optical flow settings
optical_flow:
enabled: true
method: "Lucas-Kanade"
window_size: 15
max_level: 3
min_altitude: 0.3 # meters
max_altitude: 10.0 # meters
# Landmark detection
landmarks:
enabled: true
detection_method: "ArUco" # Options: ArUco, AprilTag, ORB
marker_size: 0.15 # meters
# Position estimation (sensor fusion)
position_estimator:
fusion_method: "EKF" # Extended Kalman Filter
# Sensor weights (trust levels)
weights:
visual_odometry: 0.6
optical_flow: 0.3
imu: 0.1
# Update rates
update_rate: 50 # Hz
# Covariance matrices
process_noise:
position: 0.1
velocity: 0.5
measurement_noise:
visual_odom: 0.05
optical_flow: 0.1
imu: 0.2
# Navigation parameters (RELATIVE coordinates only)
navigation:
frame: "LOCAL_NED" # Never use GPS frame
# Control parameters
max_velocity: 2.0 # m/s
max_acceleration: 1.0 # m/s^2
max_climb_rate: 1.0 # m/s
# Waypoint following
waypoint_radius: 0.5 # meters
position_hold_radius: 0.2 # meters
# Obstacle avoidance (vision-based)
obstacle_avoidance:
enabled: true
detection_range: 5.0 # meters
safety_margin: 1.0 # meters
# Mission parameters
mission:
takeoff_altitude: 5.0 # meters (relative)
loiter_radius: 2.0 # meters
rtl_altitude: 10.0 # meters (relative)
# Home position is LOCAL (0,0,0), not GPS
home_mode: "local" # Never "gps"
# Safety (geofencing uses GPS, but navigation doesn't)
safety:
geofence:
enabled: true
use_gps: true # ONLY for geofence
action_on_breach: "RTL" # Return to LOCAL origin
failsafe:
vision_loss_timeout: 5.0 # seconds
action_on_vision_loss: "HOLD" # or "RTL" or "LAND"

46
config/ugv.yaml Normal file
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@@ -0,0 +1,46 @@
vehicle:
wheelbase: 0.3
track_width: 0.25
wheel_radius: 0.05
connection:
sim: null
real: null
position:
x: 5.0
y: 5.0
z: 0.0
yaw: 0.0
navigation:
max_linear_velocity: 1.0
max_angular_velocity: 1.5
linear_acceleration: 0.5
angular_acceleration: 1.0
waypoint_radius: 0.3
position_tolerance: 0.3
landing_pad:
marker_type: ArUco
marker_id: 0
marker_size: 0.3
pad_diameter: 1.0
color: [255, 255, 0]
vision:
detection_method: ArUco
camera:
enabled: true
frame_rate: 30
resolution: [320, 240]
safety:
geofence:
enabled: true
action_on_breach: STOP
failsafe:
vision_loss_timeout: 3.0
action_on_vision_loss: STOP
collision_distance: 0.2
action_on_collision: STOP

110
config/ugv_params.yaml
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@@ -1,110 +0,0 @@
# UGV Configuration - GPS-Denied Navigation
/**:
ros__parameters:
# Vehicle physical parameters
vehicle:
wheelbase: 0.3 # meters
track_width: 0.25 # meters
wheel_radius: 0.05 # meters
max_speed: 1.0 # m/s
max_turn_rate: 1.5 # rad/s
# Vision parameters for navigation
vision:
# Forward camera (for visual odometry and obstacle detection)
forward_camera:
enabled: true
topic: "/ugv/camera/forward/image_raw"
info_topic: "/ugv/camera/forward/camera_info"
frame_rate: 30
fov_horizontal: 90 # degrees
fov_vertical: 60 # degrees
# Visual odometry settings
visual_odometry:
enabled: true
method: "ORB" # Options: ORB, SIFT
min_features: 150
max_features: 600
feature_quality: 0.02
min_distance: 8
# Wheel odometry (primary odometry for ground vehicle)
wheel_odometry:
enabled: true
topic: "/ugv/odom"
covariance_scale: 0.05
# Obstacle detection
obstacle_detection:
enabled: true
method: "depth_camera" # or "stereo"
min_distance: 0.3 # meters
max_distance: 10.0 # meters
# Position estimation (sensor fusion)
position_estimator:
fusion_method: "EKF"
# Sensor weights (trust levels)
weights:
visual_odometry: 0.3
wheel_odometry: 0.5
imu: 0.2
# Update rates
update_rate: 50 # Hz
# Covariance matrices
process_noise:
position: 0.05
velocity: 0.2
heading: 0.1
measurement_noise:
visual_odom: 0.08
wheel_odom: 0.03
imu: 0.15
# Navigation parameters (RELATIVE coordinates only)
navigation:
frame: "LOCAL_NED" # Never use GPS frame
# Control parameters
max_linear_velocity: 1.0 # m/s
max_angular_velocity: 1.5 # rad/s
linear_acceleration: 0.5 # m/s^2
angular_acceleration: 1.0 # rad/s^2
# Path following
lookahead_distance: 0.5 # meters
waypoint_radius: 0.3 # meters
# Obstacle avoidance
obstacle_avoidance:
enabled: true
detection_range: 3.0 # meters
safety_margin: 0.5 # meters
avoidance_method: "VFH" # Vector Field Histogram
# Mission parameters
mission:
default_speed: 0.5 # m/s
turn_in_place_threshold: 0.5 # radians
# Home position is LOCAL (0,0,0), not GPS
home_mode: "local"
# Safety
safety:
geofence:
enabled: true
use_gps: true # ONLY for geofence
action_on_breach: "STOP"
failsafe:
vision_loss_timeout: 3.0 # seconds
action_on_vision_loss: "STOP"
collision_distance: 0.2 # meters
action_on_collision: "STOP"