Removed Bashrc modification

README.md

@@ -19,8 +19,8 @@ cd RDC_Simulation
 # Full installation (20-30 minutes)
 ./setup/install_ubuntu.sh
 
-# Reload environment
+# Activate environment
-source ~/.bashrc
+source activate.sh
 ```
 
 ### Run the Simulation (3 Terminals)
@@ -34,7 +34,7 @@ cd ~/RDC_Simulation
 
 **Terminal 2 - Start ArduCopter SITL:**
 ```bash
-source ~/.ardupilot_env
+source activate.sh
 sim_vehicle.py -v ArduCopter -f gazebo-iris --model JSON --console
 # Wait for "JSON received:" messages (shows Gazebo is connected)
 ```
@@ -96,14 +96,14 @@ Gazebo isn't sending data to SITL.
 ### "empy not found" or wrong Python
 Wrong virtual environment.
 ```bash
-source ~/.ardupilot_env
+source activate.sh
 pip install empy==3.3.4
 ```
 
 ### "sim_vehicle.py not found"
 ArduPilot tools not in PATH.
 ```bash
-source ~/.ardupilot_env
+source activate.sh
 ```
 
 ### Drone won't arm

docs/installation.md

@@ -21,8 +21,8 @@ cd ~/RDC_Simulation
 # Run full installer (20-30 minutes)
 ./setup/install_ubuntu.sh
 
-# Reload shell
+# Activate environment
-source ~/.bashrc
+source activate.sh
 ```
 
 This installs:
@@ -54,8 +54,8 @@ git clone <repo-url> ~/RDC_Simulation
 cd ~/RDC_Simulation
 ./setup/install_ubuntu.sh
 
-# Reload shell
+# Activate environment
-source ~/.bashrc
+source activate.sh
 ```
 
 ### WSL2 Tips
@@ -73,7 +73,7 @@ source ~/.bashrc
 
 ```bash
 ./setup/install_arch.sh
-source ~/.bashrc
+source activate.sh
 ```
 
 ## macOS
@@ -92,7 +92,8 @@ macOS doesn't support Gazebo Harmonic. Options:
 
 ```bash
 # Check ArduPilot environment
-source ~/.ardupilot_env
+# Activate environment & check
+source activate.sh
 python -c "import em; print('empy: OK')"
 which sim_vehicle.py
 
@@ -114,7 +115,7 @@ Wait for the drone to appear!
 
 ### Terminal 2 - SITL
 ```bash
-source ~/.ardupilot_env
+source activate.sh
 sim_vehicle.py -v ArduCopter -f gazebo-iris --model JSON --console
 ```
 Wait for "JSON received:" messages.
@@ -131,7 +132,7 @@ python scripts/run_ardupilot.py --pattern square
 ### "empy not found"
 
 ```bash
-source ~/.ardupilot_env
+source activate.sh
 pip install empy==3.3.4
 ```
 

setup/install_arch.sh

@@ -108,27 +108,38 @@ echo "[STEP 5/5] Creating activation script..."
 
 cat > "$PROJECT_ROOT/activate.sh" << 'EOF'
 #!/bin/bash
-# Drone Simulation - Environment Activation (Arch Linux)
+# RDC Simulation - Environment Activation
+# Usage: source activate.sh
 
 SCRIPT_DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" && pwd)"
 
-# Try to source ROS 2 if available (from AUR)
+# =============================================================================
-if [ -f "/opt/ros/humble/setup.bash" ]; then
+# 1. ROS 2 Setup
-    source /opt/ros/humble/setup.bash
+# =============================================================================
-    echo "[OK] ROS 2 humble sourced"
+if [ -f "/opt/ros/jazzy/setup.bash" ]; then
-elif [ -f "/opt/ros/jazzy/setup.bash" ]; then
     source /opt/ros/jazzy/setup.bash
-    echo "[OK] ROS 2 jazzy sourced"
+    echo "[OK] ROS 2 jazzy"
+elif [ -f "/opt/ros/humble/setup.bash" ]; then
+    source /opt/ros/humble/setup.bash
+    echo "[OK] ROS 2 humble"
 else
-    echo "[INFO] ROS 2 not found - standalone mode available"
+    echo "[WARN] ROS 2 installation not found in /opt/ros/"
 fi
 
-# Source ArduPilot environment (if installed)
+# =============================================================================
-if [ -f "$HOME/.ardupilot_env" ]; then
+# 2. ArduPilot Environment
-    source "$HOME/.ardupilot_env"
+# =============================================================================
-    echo "[OK] ArduPilot environment"
+export ARDUPILOT_HOME="$HOME/ardupilot"
-fi
 
+# Add ArduPilot tools to PATH
+# We prepend to ensure we use our versions
+export PATH="$ARDUPILOT_HOME/Tools/autotest:$PATH"
+export PATH="$ARDUPILOT_HOME/Tools/scripts:$PATH"
+export PATH="$HOME/.local/bin:$PATH"
+
+# =============================================================================
+# 3. Python Virtual Environment
+# =============================================================================
 # Deactivate any existing venv to avoid conflicts
 if [ -n "$VIRTUAL_ENV" ]; then
     deactivate 2>/dev/null || true
@@ -137,29 +148,35 @@ fi
 # Activate project venv
 if [ -f "$SCRIPT_DIR/venv/bin/activate" ]; then
     source "$SCRIPT_DIR/venv/bin/activate"
-    echo "[OK] Python venv activated"
+    echo "[OK] Python venv active"
+else
+    echo "[WARN] Python venv not found at $SCRIPT_DIR/venv"
 fi
 
-# Set Gazebo model path if available
+# =============================================================================
+# 4. Gazebo & Simulation Paths
+# =============================================================================
+# Add project models to Gazebo path
 export GZ_SIM_RESOURCE_PATH="$SCRIPT_DIR/gazebo/models:$GZ_SIM_RESOURCE_PATH"
 
-# Add paths for ArduPilot tools
+# ArduPilot Gazebo Plugin paths
-export PATH="$PATH:$HOME/.local/bin"
-export PATH="$PATH:$HOME/ardupilot/Tools/autotest"
-
-# ArduPilot Gazebo plugin
 if [ -d "$HOME/ardupilot_gazebo/build" ]; then
     export GZ_SIM_SYSTEM_PLUGIN_PATH="$HOME/ardupilot_gazebo/build:$GZ_SIM_SYSTEM_PLUGIN_PATH"
     export GZ_SIM_RESOURCE_PATH="$HOME/ardupilot_gazebo/models:$HOME/ardupilot_gazebo/worlds:$GZ_SIM_RESOURCE_PATH"
+else
+    echo "[WARN] ArduPilot Gazebo plugin not found at $HOME/ardupilot_gazebo"
 fi
 
 echo ""
-echo "Environment ready! See README.md for usage instructions."
+echo "Environment Configured!"
-echo ""
+echo "-----------------------"
+echo "Project Root:   $SCRIPT_DIR"
+echo "ArduPilot Home: $ARDUPILOT_HOME"
+echo "-----------------------"
 EOF
 
 chmod +x "$PROJECT_ROOT/activate.sh"
-echo "[INFO] Created: $PROJECT_ROOT/activate.sh"
+echo "[OK] Created: $PROJECT_ROOT/activate.sh"
 
 # -----------------------------------------------------------------------------
 # Verification

setup/install_macos.sh

@@ -133,7 +133,8 @@ echo ""
 echo "For the full simulation, use a Linux VM or Docker:"
 echo "  - UTM (Apple Silicon): https://mac.getutm.app"
 echo "  - Docker Desktop: docker run -it ubuntu:22.04"
-echo "  - Then run: ./setup/install_ubuntu.sh --with-ardupilot"
+echo "  - Then run: ./setup/install_ubuntu.sh"
+echo "  - Then: source activate.sh"
 echo ""
 echo "Once in Linux, run (3 terminals):"
 echo ""

setup/install_ubuntu.sh

@@ -177,22 +177,33 @@ cat > "$PROJECT_ROOT/activate.sh" << 'EOF'
 
 SCRIPT_DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" && pwd)"
 
-# Source ROS 2
+# =============================================================================
+# 1. ROS 2 Setup
+# =============================================================================
 if [ -f "/opt/ros/jazzy/setup.bash" ]; then
     source /opt/ros/jazzy/setup.bash
     echo "[OK] ROS 2 jazzy"
 elif [ -f "/opt/ros/humble/setup.bash" ]; then
     source /opt/ros/humble/setup.bash
     echo "[OK] ROS 2 humble"
+else
+    echo "[WARN] ROS 2 installation not found in /opt/ros/"
 fi
 
-# Source ArduPilot environment (if installed)
+# =============================================================================
-if [ -f "$HOME/.ardupilot_env" ]; then
+# 2. ArduPilot Environment
-    source "$HOME/.ardupilot_env"
+# =============================================================================
-    echo "[OK] ArduPilot environment"
+export ARDUPILOT_HOME="$HOME/ardupilot"
-fi
 
-# Deactivate any existing venv to avoid conflicts
+# Add ArduPilot tools to PATH
+export PATH="$ARDUPILOT_HOME/Tools/autotest:$PATH"
+export PATH="$ARDUPILOT_HOME/Tools/scripts:$PATH"
+export PATH="$HOME/.local/bin:$PATH"
+
+# =============================================================================
+# 3. Python Virtual Environment
+# =============================================================================
+# Deactivate any existing venv
 if [ -n "$VIRTUAL_ENV" ]; then
     deactivate 2>/dev/null || true
 fi
@@ -200,24 +211,31 @@ fi
 # Activate project venv
 if [ -f "$SCRIPT_DIR/venv/bin/activate" ]; then
     source "$SCRIPT_DIR/venv/bin/activate"
-    echo "[OK] Python venv"
+    echo "[OK] Python venv active"
+else
+    echo "[WARN] Python venv not found at $SCRIPT_DIR/venv"
 fi
 
-# Set Gazebo paths
+# =============================================================================
+# 4. Gazebo & Simulation Paths
+# =============================================================================
+# Add project models to Gazebo path
 export GZ_SIM_RESOURCE_PATH="$SCRIPT_DIR/gazebo/models:$GZ_SIM_RESOURCE_PATH"
 
-# Add paths for ArduPilot tools
+# ArduPilot Gazebo Plugin paths
-export PATH="$PATH:$HOME/.local/bin"
-export PATH="$PATH:$HOME/ardupilot/Tools/autotest"
-
-# ArduPilot Gazebo plugin
 if [ -d "$HOME/ardupilot_gazebo/build" ]; then
     export GZ_SIM_SYSTEM_PLUGIN_PATH="$HOME/ardupilot_gazebo/build:$GZ_SIM_SYSTEM_PLUGIN_PATH"
     export GZ_SIM_RESOURCE_PATH="$HOME/ardupilot_gazebo/models:$HOME/ardupilot_gazebo/worlds:$GZ_SIM_RESOURCE_PATH"
+else
+    echo "[WARN] ArduPilot Gazebo plugin not found at $HOME/ardupilot_gazebo"
 fi
 
 echo ""
-echo "Ready! See README.md for usage instructions."
+echo "Environment Configured!"
+echo "-----------------------"
+echo "Project Root:   $SCRIPT_DIR"
+echo "ArduPilot Home: $ARDUPILOT_HOME"
+echo "-----------------------"
 EOF
 
 chmod +x "$PROJECT_ROOT/activate.sh"

setup/install_windows.ps1

@@ -231,7 +231,7 @@ Write-Host ""
 Write-Host "Step 2: Open Ubuntu and install" -ForegroundColor Yellow
 Write-Host "  cd /mnt/c/path/to/RDC_Simulation" -ForegroundColor White
 Write-Host "  ./setup/install_ubuntu.sh" -ForegroundColor White
-Write-Host "  source ~/.bashrc" -ForegroundColor White
+Write-Host "  source activate.sh" -ForegroundColor White
 Write-Host ""
 Write-Host "Step 3: Run simulation (3 terminals)" -ForegroundColor Yellow
 Write-Host "  Terminal 1: ./scripts/run_ardupilot_sim.sh runway" -ForegroundColor White

src/drone_controller.py

@@ -15,6 +15,13 @@ import os
 import time
 import math
 import argparse
+import threading
+
+try:
+    import cv2
+except ImportError:
+    cv2 = None
+    print("[WARN] opencv-python not installed - camera view will be disabled")
 
 sys.path.insert(0, os.path.dirname(os.path.dirname(os.path.abspath(__file__))))
 
@@ -28,6 +35,56 @@ except ImportError:
 from config import MAVLINK
 
 
+class CameraViewer(threading.Thread):
+    def __init__(self, port=5600):
+        super().__init__()
+        self.port = port
+        self.running = True
+        self.daemon = True
+        
+    def run(self):
+        if cv2 is None:
+            return
+            
+        print(f"[INFO] Waiting for video stream on UDP port {self.port}...")
+        
+        # GStreamer pipeline for UDP H.264 stream
+        # This matches the ArduPilot Gazebo plugin output
+        pipeline = (
+            f"udpsrc port={self.port} ! "
+            "application/x-rtp, payload=96 ! "
+            "rtph264depay ! h264parse ! avdec_h264 ! "
+            "videoconvert ! appsink sync=false"
+        )
+        
+        try:
+            cap = cv2.VideoCapture(pipeline, cv2.CAP_GSTREAMER)
+            
+            if not cap.isOpened():
+                print("[WARN] Could not open video stream (GStreamer Error)")
+                print("[TIP] Ensure Gazebo is running and GST plugins are installed")
+                return
+            
+            print("[OK] Video stream connected")
+            
+            while self.running:
+                ret, frame = cap.read()
+                if ret:
+                    cv2.imshow("Drone Camera", frame)
+                    if cv2.waitKey(1) & 0xFF == ord('q'):
+                        self.running = False
+                        break
+                else:
+                    # No frame received
+                    time.sleep(0.1)
+            
+            cap.release()
+            cv2.destroyAllWindows()
+            
+        except Exception as e:
+            print(f"[ERROR] Camera Viewer failed: {e}")
+
+
 class DroneController:
     """Drone controller with takeoff, fly pattern, and land."""
     
@@ -203,20 +260,70 @@ class DroneController:
         # Wait for parameter to be acknowledged
         time.sleep(0.5)
     
+    def setup_geofence(self, max_alt=15.0, max_radius=30.0, action="LAND"):
+        """Configure the geofence (safety cage).
+        
+        Args:
+            max_alt: Maximum altitude in meters
+            max_radius: Maximum radius from home in meters
+            action: Action to take on breach ("RTL", "LAND", "BRAKE", "REPORT")
+        """
+        print(f"[INFO] Setting up Geofence: Max Alt={max_alt}m, Max Radius={max_radius}m")
+        
+        # Action map
+        actions = {
+            "REPORT": 0,
+            "RTL": 1,
+            "LAND": 2,
+            "SMART_RTL": 3,
+            "BRAKE": 4
+        }
+        action_val = actions.get(action.upper(), 2)  # Default to LAND
+        
+        # 1. Enable Fence (0=Disable, 1=Enable)
+        self.set_param("FENCE_ENABLE", 1)
+        
+        # 2. Set Type (1=Alt, 2=Circle, 4=Polygon) -> 3=Alt+Circle
+        self.set_param("FENCE_TYPE", 3)
+        
+        # 3. Set Action
+        self.set_param("FENCE_ACTION", action_val)
+        
+        # 4. Set Limits
+        self.set_param("FENCE_ALT_MAX", max_alt)
+        self.set_param("FENCE_RADIUS", max_radius)
+        
+        # 5. Set floor margin (optional, default 0)
+        self.set_param("FENCE_MARGIN", 2.0)
+        
+        print(f"[OK] Geofence active. Breach action: {action}")
+        time.sleep(0.5)
+
     def setup_gps_denied(self):
-        """Configure for GPS-denied operation."""
+        """Configure for Simulated GPS-Denied operation.
-        print("[INFO] Configuring for GPS-denied operation...")
+        
+        NOTE: We ENABLE GPS in the EKF so that the Geofence (Safety Cage) works.
+        However, the controller uses GUIDED_NOGPS mode and sends velocity/attitude 
+        commands, treating the flight as if it were GPS-denied (no position holds).
+        """
+        print("[INFO] Configuring for Simulated GPS-Denied operation...")
         
         # Disable all arming checks for testing
         self.set_param("ARMING_CHECK", 0)
         
-        # Configure EKF3 for non-GPS operation
+        # Configure EKF3 - WE ENABLE GPS HERE FOR GEOFENCE SAFETY
-        # These parameters tell the EKF to not require GPS
+        # 3 = GPS (Enabled for safety/fence)
-        self.set_param("EK3_SRC1_POSXY", 0)  # 0 = None (no GPS for horizontal position)
+        self.set_param("EK3_SRC1_POSXY", 3)  
-        self.set_param("EK3_SRC1_VELXY", 0)  # 0 = None (no GPS for horizontal velocity)
+        self.set_param("EK3_SRC1_VELXY", 3)
-        self.set_param("EK3_SRC1_POSZ", 1)   # 1 = Baro (use barometer for altitude)
+        self.set_param("EK3_SRC1_POSZ", 1)   # 1 = Baro
         
-        print("[OK] GPS-denied parameters set")
+        # Disable GPS Failsafe (so we don't land if GPS is bad, since we 'pretend' to be denied)
+        self.set_param("FS_GPS_ENABLE", 0)
+        
+        # Set a reasonable geofence by default
+        self.setup_geofence(max_alt=10.0, max_radius=20.0, action="LAND")
+        
+        print("[OK] EKF configured (GPS enabled for Fence only)")
         # Wait longer for parameters to take effect
         time.sleep(1.0)
     
@@ -563,9 +670,14 @@ def main():
     
     drone = DroneController(args.connection)
     
+    # Start Camera Viewer
+    camera = CameraViewer()
+    camera.start()
+    
     if not drone.connect():
         print("\n[ERROR] Could not connect to SITL")
         print("Make sure sim_vehicle.py is running")
+        camera.running = False  # Stop camera
         sys.exit(1)
     
     try:
@@ -625,6 +737,10 @@ def main():
     except KeyboardInterrupt:
         print("\n\n[INFO] Interrupted - Landing...")
         drone.land()
+    finally:
+        camera.running = False  # Stop camera thread
+        if camera.is_alive():
+            camera.join(timeout=1.0)
 
 
 if __name__ == "__main__":