Initial Commit

config/simulation_config.yaml

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+# 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