# A Cyber-Physical System for Wildfire Detection and Firefighting
## 3 Materials and Methods
### Prerequisite  
#### 3.1.1 ROS, Gazebo and PX4  
ROS ([[https://www.ros.org/](https://www.ros.org/)]([https://www.ros.org/](https://www.ros.org/)), accessed on 18 April 2023), Gazebo ([[https://gazebosim.org/home](https://gazebosim.org/home)]([https://gazebosim.org/home](https://gazebosim.org/home)), accessed on 18 April 2023), and PX4 ([[https://px4.io/](https://px4.io/)]([https://px4.io/](https://px4.io/)), accessed on 18 April 2023) have played a crucial role in the development, simulation, and control of Unmanned Aerial Vehicles (UAVs) and Unmanned Ground Vehicles (UGVs). Together, they have formed a powerful software stack that has enabled the creation, testing, and deployment of advanced robotic systems.  
The Robot Operating System (ROS) is a flexible framework that has been specifically designed for robotics applications. It has provided a collection of libraries, tools, and conventions that have facilitated the development of robust and modular robotic systems. With a distributed architecture, ROS has allowed nodes to communicate with each other using a publish-subscribe messaging model. This has simplified the integration of sensors, algorithms, and hardware components, enabling developers to focus on higher-level tasks.  
Gazebo has served as a widely used open-source simulator, offering a realistic and physics-based environment for testing and validating robotic systems. It has provided an extensive library of simulated sensors, actuators, and models, enabling developers to create virtual environments that closely resemble real-world scenarios. By supporting high-fidelity simulation of both UAVs and UGVs, Gazebo has allowed researchers and developers to evaluate the performance and behavior of their robots in various conditions without the need for expensive physical prototypes.  
PX4, on the other hand, has functioned as an open-source flight control software stack specifically designed for autonomous aerial vehicles. It has provided a comprehensive set of tools and algorithms for controlling UAVs, including autopilot features, navigation, and mission planning. Supporting a wide range of UAV platforms, PX4 has offered interfaces for integrating with various hardware components such as GPS, IMU, and cameras. Its high customizability has made it a popular choice among researchers and commercial drone manufacturers.  
Through the synergy of ROS, Gazebo, and PX4, researchers and developers gain access to a powerful and versatile platform for the development, simulation, and control of both UAVs and UGVs. While not obligatory, the utilization of these platforms significantly facilitates the design and testing of complex robotic systems. The ability to evaluate performance and behavior in realistic simulated environments empowers developers to refine their designs before real-world deployment. This approach fosters rapid prototyping, reduces development costs, and enhances the reliability and safety of autonomous systems across various applications, including aerial surveillance, package delivery, autonomous exploration, and industrial automation.