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docs/usage.md

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+# Usage Guide
+
+## Quick Start
+
+```bash
+# 1. Navigate to project
+cd ~/ros2_ws/src/uav_ugv_simulation
+
+# 2. Activate environment
+source activate_venv.sh
+
+# 3. Run simulation
+bash scripts/run_simulation.sh
+```
+
+## Launch Options
+
+### Full Simulation (UAV + UGV)
+```bash
+ros2 launch uav_ugv_simulation full_simulation.launch.py
+```
+
+### UAV Only
+```bash
+ros2 launch uav_ugv_simulation uav_only.launch.py
+```
+
+### UGV Only
+```bash
+ros2 launch uav_ugv_simulation ugv_only.launch.py
+```
+
+### Different Worlds
+```bash
+# Indoor warehouse (GPS-denied)
+bash scripts/run_simulation.sh worlds/indoor_warehouse.world
+
+# Urban canyon (GPS-degraded)
+bash scripts/run_simulation.sh worlds/urban_canyon.world
+```
+
+## Interacting with Vehicles
+
+### UAV Commands
+```bash
+# Arm the vehicle
+ros2 topic pub /uav/controller/command std_msgs/String "data: 'arm'"
+
+# Takeoff
+ros2 topic pub /uav/controller/command std_msgs/String "data: 'takeoff'"
+
+# Go to waypoint (local coordinates)
+ros2 topic pub /uav/setpoint_position geometry_msgs/PoseStamped \
+  "{header: {frame_id: 'odom'}, pose: {position: {x: 10.0, y: 5.0, z: 5.0}}}"
+
+# Land
+ros2 topic pub /uav/controller/command std_msgs/String "data: 'land'"
+```
+
+### UGV Commands
+```bash
+# Go to goal (local coordinates)
+ros2 topic pub /ugv/goal_pose geometry_msgs/PoseStamped \
+  "{header: {frame_id: 'odom'}, pose: {position: {x: 5.0, y: 3.0, z: 0.0}}}"
+
+# Stop
+ros2 topic pub /ugv/controller/command std_msgs/String "data: 'stop'"
+```
+
+## Mission Planner
+
+### Load Demo Mission
+```bash
+ros2 topic pub /mission/command std_msgs/String "data: 'load'"
+```
+
+### Start Mission
+```bash
+ros2 topic pub /mission/command std_msgs/String "data: 'start'"
+```
+
+### Pause/Resume
+```bash
+ros2 topic pub /mission/command std_msgs/String "data: 'pause'"
+ros2 topic pub /mission/command std_msgs/String "data: 'resume'"
+```
+
+## Monitoring
+
+### View Topics
+```bash
+# List all topics
+ros2 topic list
+
+# UAV status
+ros2 topic echo /uav/controller/status
+
+# Visual odometry pose
+ros2 topic echo /uav/visual_odometry/pose
+
+# Geofence status
+ros2 topic echo /geofence/status
+```
+
+### View Camera Feeds
+```bash
+# Using rqt_image_view
+ros2 run rqt_image_view rqt_image_view
+
+# Select topics:
+# /uav/camera/forward/image_raw
+# /uav/camera/downward/image_raw
+```
+
+### Visualization
+```bash
+# RViz
+rviz2
+
+# Add displays for:
+# - TF
+# - Camera
+# - Path
+# - Marker (geofence)
+```
+
+## Configuration
+
+### Modify Parameters
+
+Edit YAML files in `config/` directory:
+
+- `uav_params.yaml` - UAV settings
+- `geofence_params.yaml` - Safety boundaries
+- `mavros_params.yaml` - MAVROS connection
+
+### Runtime Parameter Changes
+```bash
+ros2 param set /uav/visual_odom_node max_features 500
+```
+
+## Stopping the Simulation
+
+```bash
+# Graceful shutdown
+Ctrl+C
+
+# Force kill all processes
+bash scripts/kill_simulation.sh
+```
+