ArduPilot SITL Update

setup/install_ubuntu.sh

@@ -3,9 +3,11 @@
 # Drone Simulation - Ubuntu/Debian Installation Script
 # =============================================================================
 # Installs ROS 2, Gazebo, PyBullet, and all required dependencies
-# Includes optional ArduPilot SITL setup for realistic flight controller
+# Use --with-ardupilot to also install ArduPilot SITL
 #
-# Usage: ./install_ubuntu.sh [--with-ardupilot]
+# Usage: 
+#   ./install_ubuntu.sh                 # Basic installation
+#   ./install_ubuntu.sh --with-ardupilot  # Include ArduPilot SITL
 # =============================================================================
 
 set -e
@@ -242,62 +244,20 @@ python3 -c "from PIL import Image; print('  Pillow: OK')" || echo "  Pillow: FAI
 python3 -c "from pymavlink import mavutil; print('  pymavlink: OK')" || echo "  pymavlink: FAILED"
 
 # -----------------------------------------------------------------------------
-# Step 9: Optional ArduPilot SITL Installation
+# Step 9: ArduPilot SITL Installation (if requested)
 # -----------------------------------------------------------------------------
 if [ "$INSTALL_ARDUPILOT" = true ]; then
     echo ""
     echo "[STEP 9] Installing ArduPilot SITL..."
+    echo "[INFO] Calling dedicated ArduPilot install script..."
     
-    # Install ArduPilot dependencies
-    sudo apt-get install -y \
-        python3-dev \
-        python3-opencv \
-        python3-wxgtk4.0 \
-        python3-matplotlib \
-        python3-lxml \
-        libxml2-dev \
-        libxslt1-dev || true
-    
-    # Clone ArduPilot if not exists
-    if [ ! -d "$HOME/ardupilot" ]; then
-        echo "[INFO] Cloning ArduPilot..."
-        git clone --recurse-submodules https://github.com/ArduPilot/ardupilot.git "$HOME/ardupilot"
-        cd "$HOME/ardupilot"
-        Tools/environment_install/install-prereqs-ubuntu.sh -y
-        cd "$PROJECT_ROOT"
+    # Call the dedicated ArduPilot install script
+    if [ -f "$SCRIPT_DIR/install_ardupilot.sh" ]; then
+        bash "$SCRIPT_DIR/install_ardupilot.sh"
     else
-        echo "[INFO] ArduPilot already exists at $HOME/ardupilot"
+        echo "[ERROR] install_ardupilot.sh not found!"
+        echo "[INFO] Please run: ./setup/install_ardupilot.sh"
     fi
-    
-    # Clone ArduPilot Gazebo plugin if not exists
-    if [ ! -d "$HOME/ardupilot_gazebo" ]; then
-        echo "[INFO] Cloning ArduPilot Gazebo plugin..."
-        git clone https://github.com/ArduPilot/ardupilot_gazebo.git "$HOME/ardupilot_gazebo"
-        cd "$HOME/ardupilot_gazebo"
-        mkdir -p build && cd build
-        cmake .. -DCMAKE_BUILD_TYPE=Release
-        make -j$(nproc)
-        cd "$PROJECT_ROOT"
-    else
-        echo "[INFO] ArduPilot Gazebo plugin already exists at $HOME/ardupilot_gazebo"
-    fi
-    
-    # Add to bashrc
-    if ! grep -q "ARDUPILOT_HOME" ~/.bashrc; then
-        echo '' >> ~/.bashrc
-        echo '# ArduPilot SITL' >> ~/.bashrc
-        echo 'export ARDUPILOT_HOME=$HOME/ardupilot' >> ~/.bashrc
-        echo 'export PATH=$PATH:$ARDUPILOT_HOME/Tools/autotest' >> ~/.bashrc
-    fi
-    
-    if ! grep -q "ardupilot_gazebo" ~/.bashrc; then
-        echo '' >> ~/.bashrc
-        echo '# ArduPilot Gazebo Plugin' >> ~/.bashrc
-        echo 'export GZ_SIM_SYSTEM_PLUGIN_PATH=$HOME/ardupilot_gazebo/build:$GZ_SIM_SYSTEM_PLUGIN_PATH' >> ~/.bashrc
-        echo 'export GZ_SIM_RESOURCE_PATH=$HOME/ardupilot_gazebo/models:$HOME/ardupilot_gazebo/worlds:$GZ_SIM_RESOURCE_PATH' >> ~/.bashrc
-    fi
-    
-    echo "[INFO] ArduPilot SITL installed"
 fi
 
 echo ""