# 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