# 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
```