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docs: Improve quick start, ArduPilot setup, and troubleshooting, and add GPS mode option.

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2026-01-07 21:27:34 +00:00
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docs/installation.md
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@@ -2,19 +2,23 @@
## System Requirements
- **OS**: Ubuntu 22.04 or 24.04 (Windows users: use WSL2)
- **RAM**: 8GB minimum, 16GB recommended
- **Disk**: 10GB free space
- **GPU**: Any GPU with OpenGL 3.3+ support
| Requirement | Minimum | Recommended |
|-------------|---------|-------------|
| **OS** | Ubuntu 22.04 | Ubuntu 24.04 |
| **RAM** | 8 GB | 16 GB |
| **Disk** | 10 GB | 20 GB |
| **GPU** | OpenGL 3.3 | NVIDIA/AMD dedicated |
## Quick Install (Ubuntu)
> **Windows users**: Use WSL2 with Ubuntu (see below)
## Quick Install (Ubuntu/WSL2)
```bash
# Clone repository
git clone <repo-url> RDC_Simulation
cd RDC_Simulation
git clone <repo-url> ~/RDC_Simulation
cd ~/RDC_Simulation
# Run installer (includes ArduPilot)
# Run full installer (includes ArduPilot)
./setup/install_ubuntu.sh --with-ardupilot
# Reload shell
@@ -22,11 +26,11 @@ source ~/.bashrc
```
This installs:
- Python 3 + virtual environment
- Gazebo Harmonic
- ArduPilot SITL
- ArduPilot Gazebo plugin
- MAVProxy
- ✅ Python 3 + virtual environment
- ✅ Gazebo Harmonic
- ✅ ArduPilot SITL
- ✅ ArduPilot Gazebo plugin
- ✅ MAVProxy
## Windows (WSL2)
@@ -36,7 +40,8 @@ Open PowerShell as Administrator:
```powershell
wsl --install -d Ubuntu-24.04
```
Restart computer, then open Ubuntu from Start menu.
Restart your computer, then open "Ubuntu" from the Start menu.
### Step 2: Install in WSL
@@ -49,32 +54,20 @@ git clone <repo-url> ~/RDC_Simulation
cd ~/RDC_Simulation
./setup/install_ubuntu.sh --with-ardupilot
# Reload
# Reload shell
source ~/.bashrc
```
### WSL2 Tips
- **GUI Apps**: Windows 11 has WSLg built-in. Gazebo should work automatically.
- **GPU**: Install NVIDIA WSL driver from [nvidia.com/wsl](https://developer.nvidia.com/cuda/wsl)
- **Access Windows files**: `/mnt/c/Users/YourName/`
- **Performance**: Clone repo to Linux filesystem (not `/mnt/c/`)
## macOS
macOS doesn't support Gazebo Harmonic natively. Options:
1. **Docker** (recommended): Use Linux container
2. **VM**: Use UTM or Parallels with Ubuntu
3. **Standalone**: Run PyBullet-only simulation
```bash
# Install basic dependencies
./setup/install_macos.sh
# Use standalone simulation
python standalone_simulation.py
```
- **GUI**: Windows 11 has WSLg built-in. Gazebo should work automatically.
- **GPU**: Install [NVIDIA WSL driver](https://developer.nvidia.com/cuda/wsl) for GPU acceleration
- **Performance**: Keep files in Linux filesystem (`~/`), not Windows (`/mnt/c/`)
- **Memory**: WSL may need more RAM. Create `~/.wslconfig` in Windows:
```ini
[wsl2]
memory=8GB
```
## Arch Linux
@@ -83,46 +76,51 @@ python standalone_simulation.py
source ~/.bashrc
```
## macOS
macOS doesn't support Gazebo Harmonic. Options:
1. **Docker**: Run Linux in container
2. **VM**: Use UTM/Parallels with Ubuntu
3. **Basic**: PyBullet-only simulation
```bash
./setup/install_macos.sh
```
## Verify Installation
```bash
# Check ArduPilot
# Check ArduPilot virtual environment
source ~/venv-ardupilot/bin/activate
python -c "import em; print('empy OK')"
sim_vehicle.py --help
python -c "import em; print('empy: OK')"
which sim_vehicle.py
# Check Gazebo
gz sim --version
# Check ArduPilot plugin
ls ~/ardupilot_gazebo/build/libArduPilotPlugin.so
```
## Post-Installation
### Environment Setup
The installer creates `activate.sh` in the project root:
## First Run
### Terminal 1 - Gazebo
```bash
cd ~/RDC_Simulation
source activate.sh
```
This sources:
- ROS 2 (if installed)
- ArduPilot virtual environment
- Gazebo paths
### First Run
```bash
# Terminal 1: Start Gazebo
./scripts/run_ardupilot_sim.sh runway
```
Wait for the drone to appear!
# Terminal 2: Start SITL (after Gazebo loads)
### Terminal 2 - SITL
```bash
source ~/venv-ardupilot/bin/activate
sim_vehicle.py -v ArduCopter -f gazebo-iris --model JSON --console
```
Wait for "JSON received:" messages.
# Terminal 3: Run controller
### Terminal 3 - Controller
```bash
source ~/venv-ardupilot/bin/activate
cd ~/RDC_Simulation
python scripts/run_ardupilot.py --pattern square
@@ -137,30 +135,29 @@ source ~/venv-ardupilot/bin/activate
pip install empy==3.3.4
```
### "No JSON sensor message"
SITL isn't receiving data from Gazebo.
- Start Gazebo FIRST
- Wait for it to fully load
- Then start SITL
### "sim_vehicle.py not found"
```bash
source ~/.ardupilot_env
# OR
# Or add to PATH manually:
export PATH=$PATH:~/ardupilot/Tools/autotest
```
### Gazebo crashes / slow
### "No JSON sensor message"
SITL isn't receiving data from Gazebo.
- Start Gazebo FIRST
- Wait for world to fully load
- Then start SITL
### Gazebo crashes or slow
```bash
# Check GPU
glxinfo | grep "OpenGL renderer"
# Try software rendering (slow but works)
# Force software rendering (slow but works)
export LIBGL_ALWAYS_SOFTWARE=1
gz sim -v4 -r ~/ardupilot_gazebo/worlds/iris_runway.sdf
```
### WSL: Display not working
@@ -169,6 +166,14 @@ gz sim -v4 -r ~/ardupilot_gazebo/worlds/iris_runway.sdf
# Check WSLg
ls /mnt/wslg
# If missing, update WSL
# Update WSL if missing
wsl --update
```
### ArduPlane instead of ArduCopter
If mode list shows FBWA, FBWB (plane modes):
```bash
pkill -9 -f sim_vehicle
sim_vehicle.py -v ArduCopter -f gazebo-iris --model JSON --console --wipe-eeprom
```