Ardupilot Install Script Fix

2026-01-04 00:42:40 +00:00
parent 6804180e21
commit 23c619c4dd
3 changed files with 207 additions and 320 deletions
--- a/docs/installation.md
+++ b/docs/installation.md
@@ -56,17 +56,21 @@ source ~/.bashrc
 ```

 **Installs:**
+- Micro-XRCE-DDS-Gen (required for DDS)
 - ArduPilot SITL
 - ardupilot_gz (Gazebo integration)
- MAVProxy
+- MAVProxy (`~/.local/bin/mavproxy.py`)

-**Run:**
+**Run (2 terminals):**
+
+Terminal 1:
 ```bash
-# Terminal 1
 source ~/ardu_ws/install/setup.bash
 ros2 launch ardupilot_gz_bringup iris_runway.launch.py
+```

-# Terminal 2
+Terminal 2:
+```bash
 mavproxy.py --console --map --master=:14550
 ```

@@ -96,21 +100,16 @@ source activate.sh
 python standalone_simulation.py
 ```

-**Note:** ROS 2 and Gazebo not supported on macOS. Use standalone mode.
+**Note:** ROS 2 and Gazebo not supported. Use standalone mode.

 ---

 ## Manual Install

 ```bash
-# Create virtual environment
 python3 -m venv venv
 source venv/bin/activate
-
-# Install packages
 pip install -r requirements.txt
-
-# Run
 python standalone_simulation.py
 ```

@@ -123,3 +122,42 @@ python -c "import pybullet; print('PyBullet OK')"
 python -c "import cv2; print('OpenCV OK')"
 python -c "from pymavlink import mavutil; print('pymavlink OK')"
 ```
+
+---
+
+## Troubleshooting
+
+### MAVProxy not found
+
+```bash
+# Install
+pip3 install --user mavproxy
+
+# Add to PATH
+echo 'export PATH=$PATH:~/.local/bin' >> ~/.bashrc
+source ~/.bashrc
+
+# Verify
+which mavproxy.py
+```
+
+### microxrceddsgen not found
+
+```bash
+# Install (needed for ArduPilot DDS)
+git clone --recurse-submodules https://github.com/eProsima/Micro-XRCE-DDS-Gen.git ~/Micro-XRCE-DDS-Gen
+cd ~/Micro-XRCE-DDS-Gen
+./gradlew assemble
+
+# Add to PATH
+echo 'export PATH=$PATH:~/Micro-XRCE-DDS-Gen/scripts' >> ~/.bashrc
+source ~/.bashrc
+```
+
+### Build errors
+
+```bash
+# Rebuild with override flag
+cd ~/ardu_ws
+colcon build --packages-up-to ardupilot_gz_bringup --allow-overriding ros_gz_bridge ros_gz_sim sdformat_urdf
+```
--- a/setup/install_ardupilot.sh
+++ b/setup/install_ardupilot.sh
@@ -3,17 +3,12 @@
 # ArduPilot ROS 2 + Gazebo Installation Script
 # =============================================================================
 # Installs the official ArduPilot ROS 2 packages with DDS and Gazebo support.
-# This is the recommended way to run ArduPilot SITL with ROS 2.
 #
-# Prerequisites:
-#   - Ubuntu 22.04 (ROS 2 Humble)
-#   - ROS 2 Humble installed
-#
-# Usage: ./install_ardupilot.sh [--skip-sitl] [--skip-gazebo]
+# Usage: ./install_ardupilot.sh
 #
 # This installs:
-#   1. ArduPilot SITL with DDS support
-#   2. ardupilot_ros - ArduPilot ROS 2 packages
+#   1. Micro-XRCE-DDS-Gen (required for DDS)
+#   2. ArduPilot SITL with DDS support
 #   3. ardupilot_gz - ArduPilot Gazebo integration
 #   4. MAVProxy ground control station
 # =============================================================================
@@ -25,33 +20,17 @@ echo "  ArduPilot ROS 2 + Gazebo Installation"
 echo "=============================================="
 echo ""

-# Parse arguments
-SKIP_SITL=false
-SKIP_GAZEBO=false
-for arg in "$@"; do
-    case $arg in
-        --skip-sitl)
-            SKIP_SITL=true
-            ;;
-        --skip-gazebo)
-            SKIP_GAZEBO=true
-            ;;
-    esac
-done
-
 # Get script directory
 SCRIPT_DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" && pwd)"
 PROJECT_ROOT="$(dirname "$SCRIPT_DIR")"

 # Directories
 ARDUPILOT_WS="$HOME/ardu_ws"
-ARDUPILOT_DIR="$HOME/ardupilot"

 # Check for ROS 2
 if [ ! -f "/opt/ros/humble/setup.bash" ] && [ ! -f "/opt/ros/jazzy/setup.bash" ]; then
    echo "[ERROR] ROS 2 not found!"
-    echo "Please install ROS 2 first:"
-    echo "  ./setup/install_ubuntu.sh"
+    echo "Install with: ./setup/install_ubuntu.sh"
    exit 1
 fi

@@ -59,89 +38,85 @@ fi
 if [ -f "/opt/ros/humble/setup.bash" ]; then
    source /opt/ros/humble/setup.bash
    ROS_DISTRO="humble"
-    GZ_VERSION="harmonic"
 elif [ -f "/opt/ros/jazzy/setup.bash" ]; then
    source /opt/ros/jazzy/setup.bash
    ROS_DISTRO="jazzy"
-    GZ_VERSION="harmonic"
 fi

-echo "[INFO] ROS 2 Distro: $ROS_DISTRO"
-echo "[INFO] Gazebo Version: $GZ_VERSION"
+GZ_VERSION="harmonic"
+
+echo "[INFO] ROS 2: $ROS_DISTRO"
+echo "[INFO] Gazebo: $GZ_VERSION"
 echo "[INFO] Workspace: $ARDUPILOT_WS"
 echo ""

 # -----------------------------------------------------------------------------
-# Step 1: Install System Dependencies
+# Step 1: System Dependencies
 # -----------------------------------------------------------------------------
 echo "[STEP 1/7] Installing system dependencies..."

 sudo apt-get update
 sudo apt-get install -y \
-    git \
-    cmake \
-    build-essential \
-    python3 \
-    python3-pip \
-    python3-dev \
-    python3-venv \
-    python3-vcstool \
-    python3-rosdep \
-    python3-colcon-common-extensions \
-    wget \
-    curl
+    git cmake build-essential \
+    python3 python3-pip python3-dev python3-venv \
+    python3-vcstool python3-rosdep python3-colcon-common-extensions \
+    wget curl default-jre gradle

-# Install additional dependencies
-sudo apt-get install -y \
-    default-jre \
-    libxml2-dev \
-    libxslt1-dev \
-    libtool \
-    automake \
-    autoconf \
-    libexpat1-dev \
-    ccache || true
-
-echo "[INFO] System dependencies installed"
+echo "[OK] System dependencies"

 # -----------------------------------------------------------------------------
-# Step 2: Install Gazebo Harmonic
+# Step 2: Install Micro-XRCE-DDS-Gen (required for DDS)
 # -----------------------------------------------------------------------------
-if [ "$SKIP_GAZEBO" = false ]; then
 echo ""
-    echo "[STEP 2/7] Installing Gazebo $GZ_VERSION..."
+echo "[STEP 2/7] Installing Micro-XRCE-DDS-Gen..."

-    # Add Gazebo APT sources
-    sudo wget https://packages.osrfoundation.org/gazebo.gpg -O /usr/share/keyrings/pkgs-osrf-archive-keyring.gpg
-    echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/pkgs-osrf-archive-keyring.gpg] http://packages.osrfoundation.org/gazebo/ubuntu-stable $(lsb_release -cs) main" | sudo tee /etc/apt/sources.list.d/gazebo-stable.list > /dev/null
-    sudo apt-get update
+XRCEDDSGEN_DIR="$HOME/Micro-XRCE-DDS-Gen"

-    # Install Gazebo
-    sudo apt-get install -y gz-$GZ_VERSION || {
-        echo "[WARN] Could not install gz-$GZ_VERSION, trying gz-garden..."
-        sudo apt-get install -y gz-garden || true
-    }
+if ! command -v microxrceddsgen &> /dev/null; then
+    if [ ! -d "$XRCEDDSGEN_DIR" ]; then
+        git clone --recurse-submodules https://github.com/eProsima/Micro-XRCE-DDS-Gen.git "$XRCEDDSGEN_DIR"
+    fi
    
-    echo "[INFO] Gazebo installed"
+    cd "$XRCEDDSGEN_DIR"
+    ./gradlew assemble
+    
+    # Add to PATH
+    if ! grep -q "Micro-XRCE-DDS-Gen" ~/.bashrc; then
+        echo "" >> ~/.bashrc
+        echo "# Micro-XRCE-DDS-Gen" >> ~/.bashrc
+        echo "export PATH=\$PATH:$XRCEDDSGEN_DIR/scripts" >> ~/.bashrc
+    fi
+    export PATH=$PATH:$XRCEDDSGEN_DIR/scripts
+    
+    echo "[OK] Micro-XRCE-DDS-Gen installed"
 else
-    echo ""
-    echo "[STEP 2/7] Skipping Gazebo installation (--skip-gazebo)"
+    echo "[OK] Micro-XRCE-DDS-Gen already installed"
 fi

 # -----------------------------------------------------------------------------
-# Step 3: Create ArduPilot ROS 2 Workspace
+# Step 3: Install Gazebo Harmonic
 # -----------------------------------------------------------------------------
 echo ""
-echo "[STEP 3/7] Setting up ArduPilot ROS 2 workspace..."
+echo "[STEP 3/7] Installing Gazebo Harmonic..."
+
+sudo wget https://packages.osrfoundation.org/gazebo.gpg -O /usr/share/keyrings/pkgs-osrf-archive-keyring.gpg 2>/dev/null
+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
+sudo apt-get update
+sudo apt-get install -y gz-harmonic || echo "[WARN] Could not install gz-harmonic"
+
+echo "[OK] Gazebo"
+
+# -----------------------------------------------------------------------------
+# Step 4: Create ArduPilot Workspace
+# -----------------------------------------------------------------------------
+echo ""
+echo "[STEP 4/7] Setting up ArduPilot workspace..."

 mkdir -p "$ARDUPILOT_WS/src"
 cd "$ARDUPILOT_WS"

-# Import ArduPilot ROS 2 repositories using vcstool
-echo "[INFO] Importing ArduPilot ROS 2 repositories..."
-
-# Create ros2.repos file for ArduPilot packages
-cat > /tmp/ardupilot_ros2.repos << 'EOF'
+# Import ArduPilot repos
+vcs import --recursive src < <(cat << 'EOF'
 repositories:
  ardupilot:
    type: git
@@ -152,200 +127,108 @@ repositories:
    url: https://github.com/ArduPilot/ardupilot_gz.git
    version: main
 EOF
+) || true

-vcs import --recursive src < /tmp/ardupilot_ros2.repos
+# Import Gazebo packages
+vcs import --input https://raw.githubusercontent.com/ArduPilot/ardupilot_gz/main/ros2_gz.repos --recursive src 2>/dev/null || true

-# Also import Gazebo-related packages
-if [ "$SKIP_GAZEBO" = false ]; then
-    echo "[INFO] Importing Gazebo packages..."
-    vcs import --input https://raw.githubusercontent.com/ArduPilot/ardupilot_gz/main/ros2_gz.repos --recursive src || true
-fi
-
-echo "[INFO] ArduPilot ROS 2 repositories imported"
+echo "[OK] Repositories imported"

 # -----------------------------------------------------------------------------
-# Step 4: Install ArduPilot SITL Prerequisites
+# Step 5: Install ArduPilot Prerequisites
 # -----------------------------------------------------------------------------
-if [ "$SKIP_SITL" = false ]; then
 echo ""
-    echo "[STEP 4/7] Installing ArduPilot SITL prerequisites..."
+echo "[STEP 5/7] Installing ArduPilot prerequisites..."

 cd "$ARDUPILOT_WS/src/ardupilot"
-    
-    # Run ArduPilot prerequisites installer
 Tools/environment_install/install-prereqs-ubuntu.sh -y
-    
-    # Reload profile
 . ~/.profile || true

-    echo "[INFO] ArduPilot SITL prerequisites installed"
-else
-    echo ""
-    echo "[STEP 4/7] Skipping SITL prerequisites (--skip-sitl)"
-fi
+echo "[OK] ArduPilot prerequisites"

 # -----------------------------------------------------------------------------
-# Step 5: Configure rosdep for Gazebo
+# Step 6: Configure rosdep and Build
 # -----------------------------------------------------------------------------
 echo ""
-echo "[STEP 5/7] Configuring rosdep..."
+echo "[STEP 6/7] Building packages..."

-# Initialize rosdep if needed
+# Configure rosdep
 if [ ! -f /etc/ros/rosdep/sources.list.d/20-default.list ]; then
    sudo rosdep init || true
 fi
 rosdep update

-# Add Gazebo sources to rosdep (for non-default ROS 2 Humble + Gazebo Harmonic pairing)
-if [ "$ROS_DISTRO" = "humble" ] && [ "$GZ_VERSION" = "harmonic" ]; then
+# Add Gazebo Harmonic sources
 sudo wget https://raw.githubusercontent.com/osrf/osrf-rosdep/master/gz/00-gazebo.list \
-        -O /etc/ros/rosdep/sources.list.d/00-gazebo.list || true
+    -O /etc/ros/rosdep/sources.list.d/00-gazebo.list 2>/dev/null || true
 rosdep update || true
-fi

-# Install ROS dependencies
+# Install dependencies
 cd "$ARDUPILOT_WS"
 rosdep install --from-paths src --ignore-src -y || true

-echo "[INFO] rosdep configured"
-
-# -----------------------------------------------------------------------------
-# Step 6: Build ArduPilot ROS 2 Packages
-# -----------------------------------------------------------------------------
-echo ""
-echo "[STEP 6/7] Building ArduPilot ROS 2 packages..."
-
-cd "$ARDUPILOT_WS"
+# Build
 source /opt/ros/$ROS_DISTRO/setup.bash
-
-# Set Gazebo version environment variable
 export GZ_VERSION=$GZ_VERSION
-
-# Build packages
-if [ "$SKIP_GAZEBO" = false ]; then
-    echo "[INFO] Building with Gazebo support..."
-    colcon build --packages-up-to ardupilot_gz_bringup --symlink-install || {
-        echo "[WARN] Full build failed, trying core packages only..."
+colcon build --packages-up-to ardupilot_gz_bringup --symlink-install --allow-overriding ros_gz_bridge ros_gz_sim sdformat_urdf || {
+    echo "[WARN] Full build failed, trying ardupilot_sitl only..."
    colcon build --packages-up-to ardupilot_sitl --symlink-install
 }
-else
-    echo "[INFO] Building SITL only..."
-    colcon build --packages-up-to ardupilot_sitl --symlink-install
-fi

-echo "[INFO] ArduPilot ROS 2 packages built"
+echo "[OK] Build complete"

 # -----------------------------------------------------------------------------
-# Step 7: Configure Environment Variables
+# Step 7: Configure Environment
 # -----------------------------------------------------------------------------
 echo ""
-echo "[STEP 7/7] Configuring environment variables..."
+echo "[STEP 7/7] Configuring environment..."

-BASHRC_MARKER="# === ArduPilot ROS 2 Configuration ==="
+BASHRC_MARKER="# === ArduPilot ROS 2 ==="

 if ! grep -q "$BASHRC_MARKER" ~/.bashrc; then
-    echo "" >> ~/.bashrc
-    echo "$BASHRC_MARKER" >> ~/.bashrc
-    echo "" >> ~/.bashrc
+    cat >> ~/.bashrc << EOF

-    # Gazebo version
-    echo "# Gazebo Version" >> ~/.bashrc
-    echo "export GZ_VERSION=$GZ_VERSION" >> ~/.bashrc
-    echo "" >> ~/.bashrc
-    
-    # ArduPilot workspace
-    echo "# ArduPilot ROS 2 Workspace" >> ~/.bashrc
-    echo "export ARDUPILOT_WS=$ARDUPILOT_WS" >> ~/.bashrc
-    echo "" >> ~/.bashrc
-    
-    # ArduPilot SITL paths
-    echo "# ArduPilot SITL" >> ~/.bashrc
-    echo "export PATH=\$PATH:$ARDUPILOT_WS/src/ardupilot/Tools/autotest" >> ~/.bashrc
-    echo "" >> ~/.bashrc
-    
-    # Source ROS 2 and workspace
-    echo "# Source ROS 2 and ArduPilot workspace" >> ~/.bashrc
-    echo "source /opt/ros/$ROS_DISTRO/setup.bash" >> ~/.bashrc
-    echo "if [ -f $ARDUPILOT_WS/install/setup.bash ]; then" >> ~/.bashrc
-    echo "    source $ARDUPILOT_WS/install/setup.bash" >> ~/.bashrc
-    echo "fi" >> ~/.bashrc
-    echo "" >> ~/.bashrc
-    
-    echo "[INFO] Environment variables added to ~/.bashrc"
+$BASHRC_MARKER
+export GZ_VERSION=$GZ_VERSION
+export PATH=\$PATH:$ARDUPILOT_WS/src/ardupilot/Tools/autotest
+export PATH=\$PATH:\$HOME/.local/bin
+source /opt/ros/$ROS_DISTRO/setup.bash
+[ -f $ARDUPILOT_WS/install/setup.bash ] && source $ARDUPILOT_WS/install/setup.bash
+EOF
+    echo "[OK] Environment configured"
 else
-    echo "[INFO] Environment variables already configured in ~/.bashrc"
+    echo "[OK] Environment already configured"
 fi

-# Install pymavlink in venv if it exists
-if [ -d "$PROJECT_ROOT/venv" ]; then
-    echo "[INFO] Installing pymavlink in project venv..."
-    source "$PROJECT_ROOT/venv/bin/activate"
-    pip install pymavlink mavproxy || true
-    deactivate
-fi
-
-# Also install pymavlink and mavproxy globally
+# Install MAVProxy
 pip3 install --user pymavlink mavproxy || true

-# -----------------------------------------------------------------------------
-# Verification
-# -----------------------------------------------------------------------------
+# Verify
 echo ""
 echo "=============================================="
 echo "  Verifying Installation"
 echo "=============================================="
-echo ""

-# Source the workspace
-source "$ARDUPILOT_WS/install/setup.bash" || true
+source "$ARDUPILOT_WS/install/setup.bash" 2>/dev/null || true

-# Check ROS 2 packages
-ros2 pkg list | grep -q "ardupilot_sitl" && echo "[OK] ardupilot_sitl package" || echo "[WARN] ardupilot_sitl not found"
+ros2 pkg list 2>/dev/null | grep -q "ardupilot_sitl" && echo "[OK] ardupilot_sitl" || echo "[WARN] ardupilot_sitl not found"
+ros2 pkg list 2>/dev/null | grep -q "ardupilot_gz_bringup" && echo "[OK] ardupilot_gz_bringup" || echo "[WARN] ardupilot_gz_bringup not found"
+command -v microxrceddsgen &> /dev/null && echo "[OK] microxrceddsgen" || echo "[WARN] microxrceddsgen not in PATH"
+command -v mavproxy.py &> /dev/null && echo "[OK] MAVProxy" || echo "[WARN] MAVProxy not in PATH (add ~/.local/bin to PATH)"

-if [ "$SKIP_GAZEBO" = false ]; then
-    ros2 pkg list | grep -q "ardupilot_gz_bringup" && echo "[OK] ardupilot_gz_bringup package" || echo "[WARN] ardupilot_gz_bringup not found"
-fi
-
-# Check Gazebo
-if command -v gz &> /dev/null; then
-    echo "[OK] Gazebo (gz command)"
-elif command -v ign &> /dev/null; then
-    echo "[OK] Gazebo Fortress (ign command)"
-else
-    echo "[WARN] Gazebo command not found"
-fi
-
-# Check MAVProxy
-python3 -c "from pymavlink import mavutil" &> /dev/null && echo "[OK] pymavlink" || echo "[WARN] pymavlink not found"
-
-# -----------------------------------------------------------------------------
-# Complete
-# -----------------------------------------------------------------------------
 echo ""
 echo "=============================================="
-echo "  ArduPilot ROS 2 Installation Complete!"
+echo "  Installation Complete!"
 echo "=============================================="
 echo ""
-echo "IMPORTANT: Run the following to apply changes:"
-echo "  source ~/.bashrc"
+echo "Run: source ~/.bashrc"
 echo ""
-echo "Quick Start - Run SITL with ROS 2:"
-echo "  source ~/ardu_ws/install/setup.bash"
-echo "  ros2 launch ardupilot_sitl sitl_dds_udp.launch.py \\"
-echo "      transport:=udp4 \\"
-echo "      synthetic_clock:=True \\"
-echo "      model:=quad"
+echo "Quick Start (2 terminals):"
 echo ""
-echo "Quick Start - Run with Gazebo:"
+echo "Terminal 1:"
 echo "  source ~/ardu_ws/install/setup.bash"
 echo "  ros2 launch ardupilot_gz_bringup iris_runway.launch.py"
 echo ""
-echo "MAVProxy (in another terminal):"
+echo "Terminal 2:"
 echo "  mavproxy.py --console --map --master=:14550"
 echo ""
-echo "ROS 2 Topics:"
-echo "  ros2 topic list"
-echo "  ros2 topic echo /ap/geopose/filtered"
-echo ""
-echo "For more info, see: docs/ardupilot.md"
-echo ""
--- a/setup/install_ubuntu.sh
+++ b/setup/install_ubuntu.sh
@@ -3,7 +3,6 @@
 # Drone Simulation - Ubuntu/Debian Installation Script
 # =============================================================================
 # Installs ROS 2, Gazebo, PyBullet, and all required dependencies
-# Use --with-ardupilot to also install ArduPilot SITL
 #
 # Usage: 
 #   ./install_ubuntu.sh                 # Basic installation
@@ -35,11 +34,19 @@ else
    UBUNTU_VERSION="22.04"
 fi

+# Check for ArduPilot option
+INSTALL_ARDUPILOT=false
+for arg in "$@"; do
+    if [ "$arg" = "--with-ardupilot" ]; then
+        INSTALL_ARDUPILOT=true
+    fi
+done
+
 # -----------------------------------------------------------------------------
 # Step 1: System Dependencies
 # -----------------------------------------------------------------------------
 echo ""
-echo "[STEP 1/8] Installing system dependencies..."
+echo "[STEP 1/7] Installing system dependencies..."

 sudo apt-get update
 sudo apt-get install -y \
@@ -52,23 +59,16 @@ sudo apt-get install -y \
    python3-venv \
    git \
    cmake \
-    build-essential
+    build-essential \
+    wget

 echo "[INFO] System dependencies installed"

-# Check for ArduPilot option
-INSTALL_ARDUPILOT=false
-for arg in "$@"; do
-    if [ "$arg" = "--with-ardupilot" ]; then
-        INSTALL_ARDUPILOT=true
-    fi
-done
-
 # -----------------------------------------------------------------------------
 # Step 2: ROS 2 Repository Setup
 # -----------------------------------------------------------------------------
 echo ""
-echo "[STEP 2/8] Setting up ROS 2 repository..."
+echo "[STEP 2/7] Setting up ROS 2 repository..."

 # Add ROS 2 GPG key
 sudo curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -o /usr/share/keyrings/ros-archive-keyring.gpg
@@ -92,7 +92,7 @@ echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/ros-a
 # Step 3: Install ROS 2
 # -----------------------------------------------------------------------------
 echo ""
-echo "[STEP 3/8] Installing ROS 2 $ROS_DISTRO..."
+echo "[STEP 3/7] Installing ROS 2 $ROS_DISTRO..."

 sudo apt-get update
 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-${ROS_DISTRO}-sensor-msgs
@@ -100,30 +100,22 @@ sudo apt-get install -y ros-${ROS_DISTRO}-ros-base ros-${ROS_DISTRO}-geometry-ms
 echo "[INFO] ROS 2 $ROS_DISTRO installed"

 # -----------------------------------------------------------------------------
-# Step 4: Install Gazebo (optional)
+# Step 4: Install Gazebo
 # -----------------------------------------------------------------------------
 echo ""
-echo "[STEP 4/8] Installing Gazebo..."
-
-if [ "$ROS_DISTRO" = "jazzy" ]; then
-    GZ_VERSION="harmonic"
-    GZ_PKG="gz-harmonic"
-else
-    GZ_VERSION="fortress"
-    GZ_PKG="gz-fortress"
-fi
+echo "[STEP 4/7] Installing Gazebo..."

 # Install ros-gz bridge
 sudo apt-get install -y ros-${ROS_DISTRO}-ros-gz || {
    echo "[WARN] Could not install ros-gz"
 }

-# Install Gazebo itself (provides gz or ign command)
-sudo apt-get install -y $GZ_PKG || {
-    echo "[WARN] Could not install $GZ_PKG"
-    echo "[INFO] Trying ros-ign-gazebo..."
-    sudo apt-get install -y ros-${ROS_DISTRO}-ros-ign-gazebo || true
-}
+# Install Gazebo
+if [ "$ROS_DISTRO" = "jazzy" ]; then
+    sudo apt-get install -y gz-harmonic || true
+else
+    sudo apt-get install -y gz-fortress || sudo apt-get install -y ros-${ROS_DISTRO}-ros-ign-gazebo || true
+fi

 # Verify installation
 if command -v gz &> /dev/null; then
@@ -131,42 +123,35 @@ if command -v gz &> /dev/null; then
 elif command -v ign &> /dev/null; then
    echo "[INFO] Gazebo Fortress installed (ign command available)"
 else
-    echo "[WARN] Gazebo command not found - use PyBullet instead"
+    echo "[WARN] Gazebo command not found - use standalone mode"
 fi

-echo "[INFO] Gazebo installation complete"
-
 # -----------------------------------------------------------------------------
 # Step 5: Create Python Virtual Environment
 # -----------------------------------------------------------------------------
 echo ""
-echo "[STEP 5/8] Creating Python virtual environment..."
+echo "[STEP 5/7] Creating Python virtual environment..."

-# Remove existing venv if present
 if [ -d "$VENV_DIR" ]; then
    rm -rf "$VENV_DIR"
 fi

-# Create virtual environment
 python3 -m venv "$VENV_DIR"
-
 echo "[INFO] Virtual environment created at: $VENV_DIR"

 # -----------------------------------------------------------------------------
 # Step 6: Install Python Dependencies
 # -----------------------------------------------------------------------------
 echo ""
-echo "[STEP 6/8] Installing Python dependencies..."
+echo "[STEP 6/7] Installing Python dependencies..."

 source "$VENV_DIR/bin/activate"
 pip install --upgrade pip

 if [ -f "$PROJECT_ROOT/requirements.txt" ]; then
-    echo "[INFO] Installing from requirements.txt..."
    pip install -r "$PROJECT_ROOT/requirements.txt"
 else
-    echo "[INFO] Installing packages manually..."
-    pip install pybullet numpy pillow pyinstaller
+    pip install pybullet numpy pillow opencv-python pymavlink
 fi

 echo "[INFO] Python packages installed"
@@ -175,7 +160,7 @@ echo "[INFO] Python packages installed"
 # Step 7: Create Activation Script
 # -----------------------------------------------------------------------------
 echo ""
-echo "[STEP 7/8] Creating activation script..."
+echo "[STEP 7/7] Creating activation script..."

 cat > "$PROJECT_ROOT/activate.sh" << 'EOF'
 #!/bin/bash
@@ -186,77 +171,63 @@ SCRIPT_DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" && pwd)"
 # Source ROS 2
 if [ -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 sourced"
-else
-    echo "[WARN] ROS 2 not found - standalone_simulation.py will work"
+    echo "[OK] ROS 2 humble"
 fi

 # Activate Python venv
 if [ -f "$SCRIPT_DIR/venv/bin/activate" ]; then
    source "$SCRIPT_DIR/venv/bin/activate"
-    echo "[OK] Python venv activated"
+    echo "[OK] Python venv"
 fi

-# Set Gazebo model path
+# Set Gazebo paths
 export GZ_SIM_RESOURCE_PATH="$SCRIPT_DIR/gazebo/models:$GZ_SIM_RESOURCE_PATH"

-# Set ArduPilot paths if installed
-if [ -d "$HOME/ardupilot" ]; then
-    export ARDUPILOT_HOME="$HOME/ardupilot"
-    export PATH="$PATH:$ARDUPILOT_HOME/Tools/autotest"
-    echo "[OK] ArduPilot SITL available"
-fi
+# Add ~/.local/bin to PATH (for mavproxy.py)
+export PATH="$PATH:$HOME/.local/bin"

-# Set ArduPilot Gazebo plugin path if installed
-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"
-    echo "[OK] ArduPilot Gazebo plugin available"
+# ArduPilot workspace
+if [ -f "$HOME/ardu_ws/install/setup.bash" ]; then
+    source "$HOME/ardu_ws/install/setup.bash"
+    echo "[OK] ArduPilot workspace"
 fi

 echo ""
-echo "Environment ready! Run one of:"
-echo "  python standalone_simulation.py  (No ROS 2 required)"
-echo "  python simulation_host.py        (With ROS 2)"
-echo "  python run_ardupilot.py          (With ArduPilot SITL)"
-echo ""
+echo "Ready! Run: python standalone_simulation.py"
 EOF

 chmod +x "$PROJECT_ROOT/activate.sh"
 echo "[INFO] Created: $PROJECT_ROOT/activate.sh"

 # -----------------------------------------------------------------------------
-# Step 8: Verification
+# Verification
 # -----------------------------------------------------------------------------
 echo ""
-echo "[STEP 8/8] Verifying installation..."
+echo "=============================================="
+echo "  Verifying Installation"
+echo "=============================================="

 source "$PROJECT_ROOT/activate.sh"

-echo ""
-echo "Checking Python packages:"
-python3 -c "import pybullet; print('  PyBullet: OK')" || echo "  PyBullet: FAILED"
-python3 -c "import numpy; print('  NumPy: OK')" || echo "  NumPy: FAILED"
-python3 -c "from PIL import Image; print('  Pillow: OK')" || echo "  Pillow: FAILED"
-python3 -c "from pymavlink import mavutil; print('  pymavlink: OK')" || echo "  pymavlink: FAILED"
+python3 -c "import pybullet; print('[OK] PyBullet')" || echo "[FAIL] PyBullet"
+python3 -c "import numpy; print('[OK] NumPy')" || echo "[FAIL] NumPy"
+python3 -c "import cv2; print('[OK] OpenCV')" || echo "[WARN] OpenCV not installed"
+python3 -c "from pymavlink import mavutil; print('[OK] pymavlink')" || echo "[WARN] pymavlink not installed"

 # -----------------------------------------------------------------------------
-# Step 9: ArduPilot SITL Installation (if requested)
+# ArduPilot Installation (if requested)
 # -----------------------------------------------------------------------------
 if [ "$INSTALL_ARDUPILOT" = true ]; then
    echo ""
-    echo "[STEP 9] Installing ArduPilot SITL..."
-    echo "[INFO] Calling dedicated ArduPilot install script..."
+    echo "[INFO] Installing ArduPilot SITL..."
    
-    # Call the dedicated ArduPilot install script
    if [ -f "$SCRIPT_DIR/install_ardupilot.sh" ]; then
        bash "$SCRIPT_DIR/install_ardupilot.sh"
    else
        echo "[ERROR] install_ardupilot.sh not found!"
-        echo "[INFO] Please run: ./setup/install_ardupilot.sh"
    fi
 fi

@@ -269,17 +240,12 @@ echo "Quick start:"
 echo "  source activate.sh"
 echo "  python standalone_simulation.py"
 echo ""
-echo "With ROS 2 + Gazebo:"
-echo "  python simulation_host.py     # Terminal 1"
-echo "  python run_bridge.py          # Terminal 2"
-echo ""
-echo "With ArduPilot SITL (realistic flight controller):"
-echo "  ros2 launch gazebo/launch/ardupilot_drone.launch.py  # Terminal 1"
-echo "  sim_vehicle.py -v ArduCopter -f gazebo-iris --model JSON  # Terminal 2"
-echo "  python run_ardupilot.py --no-sitl                    # Terminal 3"
+echo "With Gazebo (2 terminals):"
+echo "  Terminal 1: ros2 launch gazebo/launch/drone_landing.launch.py"
+echo "  Terminal 2: python run_gazebo.py --pattern circular"
 echo ""
 if [ "$INSTALL_ARDUPILOT" != true ]; then
-    echo "To install ArduPilot SITL, run:"
-    echo "  ./setup/install_ubuntu.sh --with-ardupilot"
+    echo "For ArduPilot SITL:"
+    echo "  ./setup/install_ardupilot.sh"
    echo ""
 fi