Camera Sim Update

2026-02-12 14:29:32 -05:00
parent 0e427f3597
commit 92da41138b
27 changed files with 1353 additions and 1317 deletions
--- a/config/properties.yaml
+++ b/config/properties.yaml
@@ -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