install script updates 3
This commit is contained in:
@@ -1,18 +1,19 @@
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#!/bin/bash
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# =============================================================================
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# Drone Simulation - Ubuntu/Debian Installation Script
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# RDC Simulation - Ubuntu/WSL2 Installation Script
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# =============================================================================
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# Installs ROS 2, Gazebo, PyBullet, and all required dependencies
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# Complete installation for GPS-Denied Drone Landing Simulation
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# Installs: ROS 2, Gazebo, ArduPilot SITL, and all dependencies
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#
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# Usage:
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# ./install_ubuntu.sh # Basic installation
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# ./install_ubuntu.sh --with-ardupilot # Include ArduPilot SITL
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# ./setup/install_ubuntu.sh # Full installation (recommended)
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# ./setup/install_ubuntu.sh --skip-ardupilot # Skip ArduPilot (basic only)
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# =============================================================================
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set -e
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echo "=============================================="
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echo " Drone Simulation - Ubuntu Installation"
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echo " RDC Simulation - Ubuntu Installation"
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echo "=============================================="
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echo ""
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@@ -21,6 +22,10 @@ SCRIPT_DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" && pwd)"
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PROJECT_ROOT="$(dirname "$SCRIPT_DIR")"
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VENV_DIR="$PROJECT_ROOT/venv"
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# ArduPilot directories
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ARDUPILOT_HOME="$HOME/ardupilot"
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ARDUPILOT_GZ="$HOME/ardupilot_gazebo"
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echo "[INFO] Project root: $PROJECT_ROOT"
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echo "[INFO] Virtual environment: $VENV_DIR"
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@@ -34,19 +39,27 @@ else
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UBUNTU_VERSION="22.04"
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fi
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# Check for ArduPilot option
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INSTALL_ARDUPILOT=false
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# Check for skip ArduPilot option (default is to install ArduPilot)
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INSTALL_ARDUPILOT=true
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for arg in "$@"; do
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if [ "$arg" = "--with-ardupilot" ]; then
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INSTALL_ARDUPILOT=true
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if [ "$arg" = "--skip-ardupilot" ]; then
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INSTALL_ARDUPILOT=false
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fi
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done
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# -----------------------------------------------------------------------------
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# Step 1: System Dependencies
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# -----------------------------------------------------------------------------
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if [ "$INSTALL_ARDUPILOT" = true ]; then
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TOTAL_STEPS=10
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echo "[INFO] Full installation with ArduPilot SITL"
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else
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TOTAL_STEPS=7
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echo "[INFO] Basic installation (no ArduPilot)"
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fi
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echo ""
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echo "[STEP 1/7] Installing system dependencies..."
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# =============================================================================
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# STEP 1: System Dependencies
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# =============================================================================
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echo "[STEP 1/$TOTAL_STEPS] Installing system dependencies..."
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sudo apt-get update
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sudo apt-get install -y \
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@@ -57,18 +70,26 @@ sudo apt-get install -y \
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python3 \
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python3-pip \
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python3-venv \
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python3-dev \
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git \
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cmake \
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build-essential \
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wget
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wget \
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netcat-openbsd \
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libgstreamer1.0-dev \
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libgstreamer-plugins-base1.0-dev \
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gstreamer1.0-plugins-bad \
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gstreamer1.0-libav \
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gstreamer1.0-gl \
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libopencv-dev
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echo "[INFO] System dependencies installed"
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echo "[OK] System dependencies installed"
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# -----------------------------------------------------------------------------
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# Step 2: ROS 2 Repository Setup
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# -----------------------------------------------------------------------------
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# =============================================================================
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# STEP 2: ROS 2 Installation
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# =============================================================================
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echo ""
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echo "[STEP 2/7] Setting up ROS 2 repository..."
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echo "[STEP 2/$TOTAL_STEPS] Installing ROS 2..."
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# Add ROS 2 GPG key
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sudo curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -o /usr/share/keyrings/ros-archive-keyring.gpg
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@@ -88,63 +109,50 @@ echo "[INFO] Using ROS 2 $ROS_DISTRO"
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# Add repository
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echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] http://packages.ros.org/ros2/ubuntu $(. /etc/os-release && echo $UBUNTU_CODENAME) main" | sudo tee /etc/apt/sources.list.d/ros2.list > /dev/null
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# -----------------------------------------------------------------------------
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# Step 3: Install ROS 2
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# -----------------------------------------------------------------------------
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echo ""
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echo "[STEP 3/7] Installing ROS 2 $ROS_DISTRO..."
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sudo apt-get update
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sudo apt-get install -y ros-${ROS_DISTRO}-ros-base ros-${ROS_DISTRO}-geometry-msgs ros-${ROS_DISTRO}-std-msgs ros-${ROS_DISTRO}-nav-msgs ros-${ROS_DISTRO}-sensor-msgs
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echo "[INFO] ROS 2 $ROS_DISTRO installed"
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# -----------------------------------------------------------------------------
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# Step 4: Install Gazebo
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# -----------------------------------------------------------------------------
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echo ""
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echo "[STEP 4/7] Installing Gazebo..."
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# Install ros-gz bridge
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sudo apt-get install -y ros-${ROS_DISTRO}-ros-gz || {
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echo "[WARN] Could not install ros-gz"
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}
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# Install Gazebo
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if [ "$ROS_DISTRO" = "jazzy" ]; then
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sudo apt-get install -y gz-harmonic || true
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else
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sudo apt-get install -y gz-fortress || sudo apt-get install -y ros-${ROS_DISTRO}-ros-ign-gazebo || true
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fi
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echo "[OK] ROS 2 $ROS_DISTRO installed"
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# =============================================================================
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# STEP 3: Gazebo Installation
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# =============================================================================
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echo ""
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echo "[STEP 3/$TOTAL_STEPS] Installing Gazebo..."
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# Add Gazebo repository
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sudo wget https://packages.osrfoundation.org/gazebo.gpg -O /usr/share/keyrings/pkgs-osrf-archive-keyring.gpg 2>/dev/null
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echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/pkgs-osrf-archive-keyring.gpg] http://packages.osrfoundation.org/gazebo/ubuntu-stable $(lsb_release -cs) main" | sudo tee /etc/apt/sources.list.d/gazebo-stable.list > /dev/null
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sudo apt-get update
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# Install Gazebo Harmonic (preferred) or Garden as fallback
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sudo apt-get install -y gz-harmonic || sudo apt-get install -y gz-garden || {
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echo "[WARN] Could not install Gazebo Harmonic/Garden"
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}
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# Verify installation
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if command -v gz &> /dev/null; then
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echo "[INFO] Gazebo installed (gz command available)"
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elif command -v ign &> /dev/null; then
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echo "[INFO] Gazebo Fortress installed (ign command available)"
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echo "[OK] Gazebo installed ($(gz sim --version 2>/dev/null | head -1 || echo 'version unknown'))"
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else
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echo "[WARN] Gazebo command not found - use standalone mode"
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echo "[WARN] Gazebo command not found"
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fi
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# -----------------------------------------------------------------------------
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# Step 5: Create Python Virtual Environment
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# -----------------------------------------------------------------------------
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# =============================================================================
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# STEP 4: Python Virtual Environment
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# =============================================================================
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echo ""
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echo "[STEP 5/7] Creating Python virtual environment..."
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echo "[STEP 4/$TOTAL_STEPS] Creating Python virtual environment..."
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if [ -d "$VENV_DIR" ]; then
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rm -rf "$VENV_DIR"
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fi
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python3 -m venv "$VENV_DIR"
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echo "[INFO] Virtual environment created at: $VENV_DIR"
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# -----------------------------------------------------------------------------
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# Step 6: Install Python Dependencies
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# -----------------------------------------------------------------------------
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echo ""
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echo "[STEP 6/7] Installing Python dependencies..."
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source "$VENV_DIR/bin/activate"
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pip install --upgrade pip
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@@ -154,17 +162,18 @@ else
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pip install pybullet numpy pillow opencv-python pymavlink pexpect
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fi
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echo "[INFO] Python packages installed"
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echo "[OK] Python virtual environment created"
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# -----------------------------------------------------------------------------
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# Step 7: Create Activation Script
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# -----------------------------------------------------------------------------
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# =============================================================================
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# STEP 5: Create Activation Script
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# =============================================================================
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echo ""
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echo "[STEP 7/7] Creating activation script..."
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echo "[STEP 5/$TOTAL_STEPS] Creating activation script..."
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cat > "$PROJECT_ROOT/activate.sh" << 'EOF'
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#!/bin/bash
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# Drone Simulation - Environment Activation
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# RDC Simulation - Environment Activation
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# Usage: source activate.sh
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SCRIPT_DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" && pwd)"
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@@ -197,7 +206,7 @@ fi
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# Set Gazebo paths
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export GZ_SIM_RESOURCE_PATH="$SCRIPT_DIR/gazebo/models:$GZ_SIM_RESOURCE_PATH"
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# Add paths for ArduPilot tools and MAVProxy
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# Add paths for ArduPilot tools
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export PATH="$PATH:$HOME/.local/bin"
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export PATH="$PATH:$HOME/ardupilot/Tools/autotest"
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@@ -212,15 +221,13 @@ echo "Ready! See README.md for usage instructions."
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EOF
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chmod +x "$PROJECT_ROOT/activate.sh"
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echo "[INFO] Created: $PROJECT_ROOT/activate.sh"
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echo "[OK] Created: $PROJECT_ROOT/activate.sh"
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# -----------------------------------------------------------------------------
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# Verification
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# -----------------------------------------------------------------------------
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# =============================================================================
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# STEP 6: Verify Base Installation
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# =============================================================================
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echo ""
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echo "=============================================="
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echo " Verifying Installation"
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echo "=============================================="
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echo "[STEP 6/$TOTAL_STEPS] Verifying base installation..."
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source "$PROJECT_ROOT/activate.sh"
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@@ -229,42 +236,148 @@ python3 -c "import numpy; print('[OK] NumPy')" || echo "[FAIL] NumPy"
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python3 -c "import cv2; print('[OK] OpenCV')" || echo "[WARN] OpenCV not installed"
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python3 -c "from pymavlink import mavutil; print('[OK] pymavlink')" || echo "[WARN] pymavlink not installed"
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# -----------------------------------------------------------------------------
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# ArduPilot Installation (if requested)
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# -----------------------------------------------------------------------------
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# =============================================================================
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# ARDUPILOT INSTALLATION (Steps 7-10, if not skipped)
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# =============================================================================
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if [ "$INSTALL_ARDUPILOT" = true ]; then
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# =========================================================================
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# STEP 7: Clone and Setup ArduPilot
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# =========================================================================
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echo ""
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echo "[INFO] Installing ArduPilot SITL..."
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echo "[STEP 7/$TOTAL_STEPS] Setting up ArduPilot SITL..."
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if [ -f "$SCRIPT_DIR/install_ardupilot.sh" ]; then
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bash "$SCRIPT_DIR/install_ardupilot.sh"
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if [ ! -d "$ARDUPILOT_HOME" ]; then
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echo "[INFO] Cloning ArduPilot repository..."
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git clone --recurse-submodules https://github.com/ArduPilot/ardupilot.git "$ARDUPILOT_HOME"
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else
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echo "[ERROR] install_ardupilot.sh not found at $SCRIPT_DIR/"
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echo "[INFO] ArduPilot directory already exists"
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fi
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cd "$ARDUPILOT_HOME"
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# Install ArduPilot prerequisites (this creates ~/.ardupilot_env)
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echo "[INFO] Installing ArduPilot prerequisites (this may take a while)..."
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Tools/environment_install/install-prereqs-ubuntu.sh -y
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. ~/.profile || true
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# Source ArduPilot environment
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if [ -f "$HOME/.ardupilot_env" ]; then
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source "$HOME/.ardupilot_env"
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fi
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echo "[OK] ArduPilot prerequisites installed"
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# =========================================================================
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# STEP 8: Build ArduCopter SITL
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# =========================================================================
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echo ""
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echo "[STEP 8/$TOTAL_STEPS] Building ArduCopter SITL..."
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cd "$ARDUPILOT_HOME"
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./waf configure --board sitl
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./waf copter
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echo "[OK] ArduCopter SITL built"
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# =========================================================================
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# STEP 9: Build ArduPilot Gazebo Plugin
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# =========================================================================
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echo ""
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echo "[STEP 9/$TOTAL_STEPS] Building ArduPilot Gazebo plugin..."
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if [ ! -d "$ARDUPILOT_GZ" ]; then
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echo "[INFO] Cloning ardupilot_gazebo repository..."
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git clone https://github.com/ArduPilot/ardupilot_gazebo.git "$ARDUPILOT_GZ"
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else
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echo "[INFO] ardupilot_gazebo directory already exists"
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fi
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cd "$ARDUPILOT_GZ"
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mkdir -p build && cd build
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cmake .. -DCMAKE_BUILD_TYPE=Release
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make -j$(nproc)
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echo "[OK] ArduPilot Gazebo plugin built"
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# =========================================================================
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# STEP 10: Configure Environment
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# =========================================================================
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echo ""
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echo "[STEP 10/$TOTAL_STEPS] Configuring shell environment..."
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BASHRC_MARKER="# === RDC Simulation ArduPilot ==="
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if ! grep -q "$BASHRC_MARKER" ~/.bashrc; then
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cat >> ~/.bashrc << EOF
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$BASHRC_MARKER
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# Source ArduPilot environment
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if [ -f ~/.ardupilot_env ]; then
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source ~/.ardupilot_env
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fi
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export ARDUPILOT_HOME=$ARDUPILOT_HOME
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export PATH=\$PATH:$ARDUPILOT_HOME/Tools/autotest
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export PATH=\$PATH:\$HOME/.local/bin
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export GZ_SIM_SYSTEM_PLUGIN_PATH=$ARDUPILOT_GZ/build:\$GZ_SIM_SYSTEM_PLUGIN_PATH
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export GZ_SIM_RESOURCE_PATH=$ARDUPILOT_GZ/models:$ARDUPILOT_GZ/worlds:\$GZ_SIM_RESOURCE_PATH
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EOF
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echo "[OK] Added ArduPilot configuration to ~/.bashrc"
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else
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echo "[OK] ArduPilot configuration already in ~/.bashrc"
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fi
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# Install MAVProxy
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pip3 install --user pymavlink mavproxy pexpect
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# Verify ArduPilot installation
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echo ""
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echo "Verifying ArduPilot installation..."
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source ~/.bashrc 2>/dev/null || true
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export PATH=$PATH:$ARDUPILOT_HOME/Tools/autotest:$HOME/.local/bin
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command -v sim_vehicle.py &> /dev/null && echo "[OK] sim_vehicle.py" || echo "[WARN] sim_vehicle.py not found"
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command -v gz &> /dev/null && echo "[OK] Gazebo (gz)" || echo "[WARN] Gazebo not found"
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command -v mavproxy.py &> /dev/null && echo "[OK] MAVProxy" || echo "[WARN] MAVProxy not in PATH"
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[ -f "$ARDUPILOT_GZ/build/libArduPilotPlugin.so" ] && echo "[OK] ArduPilot Gazebo plugin" || echo "[WARN] Plugin not built"
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fi
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# =============================================================================
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# INSTALLATION COMPLETE
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# =============================================================================
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echo ""
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echo "=============================================="
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echo " Installation Complete!"
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echo "=============================================="
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echo ""
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echo "Quick start (3 terminals):"
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echo ""
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echo "Terminal 1 - Start Gazebo:"
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echo " cd ~/RDC_Simulation"
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echo " ./scripts/run_ardupilot_sim.sh runway"
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echo ""
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echo "Terminal 2 - Start ArduCopter SITL:"
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echo " source ~/.ardupilot_env"
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echo " sim_vehicle.py -v ArduCopter -f gazebo-iris --model JSON --console"
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echo ""
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echo "Terminal 3 - Run Controller:"
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echo " cd ~/RDC_Simulation"
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echo " source activate.sh"
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echo " python scripts/run_ardupilot.py --pattern square"
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echo ""
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if [ "$INSTALL_ARDUPILOT" != true ]; then
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echo "For ArduPilot SITL (required for flight):"
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echo " ./setup/install_ardupilot.sh"
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if [ "$INSTALL_ARDUPILOT" = true ]; then
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echo "IMPORTANT: Run this command to reload your environment:"
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echo " source ~/.bashrc"
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echo ""
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echo "Quick Start (3 terminals):"
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echo ""
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echo "Terminal 1 - Start Gazebo:"
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echo " cd ~/RDC_Simulation"
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echo " ./scripts/run_ardupilot_sim.sh runway"
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echo ""
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echo "Terminal 2 - Start ArduCopter SITL:"
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echo " source ~/.bashrc"
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echo " sim_vehicle.py -v ArduCopter -f gazebo-iris --model JSON --console"
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echo ""
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echo "Terminal 3 - Run Controller:"
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echo " cd ~/RDC_Simulation"
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echo " source activate.sh"
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echo " python scripts/run_ardupilot.py --pattern square"
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else
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echo "Basic installation complete."
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echo ""
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echo "To install ArduPilot SITL later, run:"
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echo " ./setup/install_ubuntu.sh"
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echo ""
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echo "Or run manually:"
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echo " cd ~/RDC_Simulation"
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echo " source activate.sh"
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fi
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echo ""
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Reference in New Issue
Block a user