Scripts and simulation packaging update
This commit is contained in:
@@ -2,35 +2,28 @@
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# =============================================================================
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# Drone Simulation - macOS Installation Script
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# =============================================================================
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# Installs ROS 2 Humble via robostack (conda), PyBullet, and dependencies
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# Uses a conda environment for all packages
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# Installs PyBullet and Python dependencies (Gazebo not supported on macOS)
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#
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# Usage:
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# chmod +x install_macos.sh
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# ./install_macos.sh
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#
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# Tested on: macOS Ventura, Sonoma (Apple Silicon & Intel)
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# Usage: ./install_macos.sh
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# =============================================================================
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set -e # Exit on error
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set -e
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echo "=============================================="
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echo " Drone Simulation - macOS Installation"
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echo "=============================================="
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echo ""
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# Get the script directory and project root
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# Get script directory and project root
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SCRIPT_DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" && pwd)"
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PROJECT_ROOT="$(dirname "$SCRIPT_DIR")"
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ENV_NAME="drone_simulation"
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VENV_DIR="$PROJECT_ROOT/venv"
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echo "[INFO] Project root: $PROJECT_ROOT"
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# Detect architecture
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ARCH=$(uname -m)
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echo "[INFO] Detected architecture: $ARCH"
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echo "[INFO] Virtual environment: $VENV_DIR"
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# -----------------------------------------------------------------------------
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# Step 1: Install Homebrew (if not present)
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# Step 1: Check Homebrew
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# -----------------------------------------------------------------------------
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echo ""
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echo "[STEP 1/5] Checking Homebrew..."
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@@ -38,70 +31,34 @@ echo "[STEP 1/5] Checking Homebrew..."
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if ! command -v brew &> /dev/null; then
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echo "[INFO] Installing Homebrew..."
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/bin/bash -c "$(curl -fsSL https://raw.githubusercontent.com/Homebrew/install/HEAD/install.sh)"
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# Add Homebrew to PATH for Apple Silicon
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if [[ "$ARCH" == "arm64" ]]; then
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echo 'eval "$(/opt/homebrew/bin/brew shellenv)"' >> ~/.zprofile
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eval "$(/opt/homebrew/bin/brew shellenv)"
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fi
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else
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echo "[INFO] Homebrew already installed"
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fi
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# Update Homebrew
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brew update
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# -----------------------------------------------------------------------------
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# Step 2: Install Miniforge (conda)
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# Step 2: Install Python
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# -----------------------------------------------------------------------------
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echo ""
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echo "[STEP 2/5] Installing Miniforge (conda)..."
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echo "[STEP 2/5] Installing Python..."
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if ! command -v conda &> /dev/null; then
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echo "[INFO] Downloading Miniforge..."
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if [[ "$ARCH" == "arm64" ]]; then
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curl -L -O "https://github.com/conda-forge/miniforge/releases/latest/download/Miniforge3-MacOSX-arm64.sh"
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bash Miniforge3-MacOSX-arm64.sh -b -p $HOME/miniforge3
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rm Miniforge3-MacOSX-arm64.sh
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else
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curl -L -O "https://github.com/conda-forge/miniforge/releases/latest/download/Miniforge3-MacOSX-x86_64.sh"
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bash Miniforge3-MacOSX-x86_64.sh -b -p $HOME/miniforge3
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rm Miniforge3-MacOSX-x86_64.sh
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fi
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# Initialize conda
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$HOME/miniforge3/bin/conda init zsh bash
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# Source conda for this session
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source $HOME/miniforge3/etc/profile.d/conda.sh
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if ! command -v python3 &> /dev/null; then
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brew install python@3.11
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else
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echo "[INFO] Conda already installed"
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# Ensure conda is available in this session
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source $(conda info --base)/etc/profile.d/conda.sh
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echo "[INFO] Python already installed: $(python3 --version)"
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fi
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# -----------------------------------------------------------------------------
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# Step 3: Create conda environment with ROS 2
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# Step 3: Create Virtual Environment
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# -----------------------------------------------------------------------------
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echo ""
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echo "[STEP 3/5] Creating conda environment with ROS 2..."
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echo "[STEP 3/5] Creating Python virtual environment..."
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# Remove existing environment if present
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conda deactivate 2>/dev/null || true
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conda env remove -n $ENV_NAME 2>/dev/null || true
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if [ -d "$VENV_DIR" ]; then
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rm -rf "$VENV_DIR"
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fi
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# Create new environment
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conda create -n $ENV_NAME python=3.11 -y
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# Activate environment
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conda activate $ENV_NAME
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# Add robostack channels
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conda config --env --add channels conda-forge
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conda config --env --add channels robostack-staging
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echo "[INFO] Installing ROS 2 Humble via robostack (this may take a while)..."
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conda install ros-humble-desktop ros-humble-geometry-msgs ros-humble-std-msgs -y
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python3 -m venv "$VENV_DIR"
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echo "[INFO] Virtual environment created at: $VENV_DIR"
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# -----------------------------------------------------------------------------
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# Step 4: Install Python Dependencies
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@@ -109,7 +66,18 @@ conda install ros-humble-desktop ros-humble-geometry-msgs ros-humble-std-msgs -y
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echo ""
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echo "[STEP 4/5] Installing Python dependencies..."
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pip install pybullet pyinstaller
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source "$VENV_DIR/bin/activate"
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pip install --upgrade pip
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if [ -f "$PROJECT_ROOT/requirements.txt" ]; then
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echo "[INFO] Installing from requirements.txt..."
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pip install -r "$PROJECT_ROOT/requirements.txt"
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else
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echo "[INFO] Installing packages manually..."
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pip install pybullet numpy pillow pyinstaller
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fi
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echo "[INFO] Python packages installed"
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# -----------------------------------------------------------------------------
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# Step 5: Create Activation Script
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@@ -117,73 +85,54 @@ pip install pybullet pyinstaller
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echo ""
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echo "[STEP 5/5] Creating activation script..."
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ACTIVATE_SCRIPT="$PROJECT_ROOT/activate.sh"
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cat > "$ACTIVATE_SCRIPT" << 'EOF'
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cat > "$PROJECT_ROOT/activate.sh" << 'EOF'
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#!/bin/bash
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# =============================================================================
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# Drone Competition - Environment Activation Script (macOS)
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# =============================================================================
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# This script activates the conda environment with ROS 2.
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#
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# Usage:
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# source activate.sh
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# =============================================================================
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# Drone Simulation - Environment Activation (macOS)
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# Get the directory where this script is located
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SCRIPT_DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" && pwd)"
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# Initialize conda
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if [ -f "$HOME/miniforge3/etc/profile.d/conda.sh" ]; then
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source "$HOME/miniforge3/etc/profile.d/conda.sh"
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elif [ -f "$(conda info --base)/etc/profile.d/conda.sh" ]; then
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source "$(conda info --base)/etc/profile.d/conda.sh"
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# Activate Python venv
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if [ -f "$SCRIPT_DIR/venv/bin/activate" ]; then
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source "$SCRIPT_DIR/venv/bin/activate"
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echo "[OK] Python venv activated"
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fi
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# Activate conda environment
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conda activate drone_competition
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echo "[OK] Conda environment 'drone_competition' activated"
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echo ""
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echo "Environment ready! You can now run:"
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echo " python simulation_host.py"
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echo " python ros_bridge.py"
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echo "Environment ready!"
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echo ""
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echo "Run: python standalone_simulation.py"
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echo ""
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echo "Note: ROS 2 and Gazebo are not supported on macOS."
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echo " Use standalone_simulation.py for the complete experience."
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echo ""
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EOF
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chmod +x "$ACTIVATE_SCRIPT"
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echo "[INFO] Created activation script: $ACTIVATE_SCRIPT"
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chmod +x "$PROJECT_ROOT/activate.sh"
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echo "[INFO] Created: $PROJECT_ROOT/activate.sh"
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# -----------------------------------------------------------------------------
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# Verification
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# -----------------------------------------------------------------------------
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echo ""
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echo "Verifying installation..."
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source "$PROJECT_ROOT/activate.sh"
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echo ""
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echo "Checking Python packages:"
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python3 -c "import pybullet; print(' PyBullet: OK')" || echo " PyBullet: FAILED"
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python3 -c "import numpy; print(' NumPy: OK')" || echo " NumPy: FAILED"
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python3 -c "from PIL import Image; print(' Pillow: OK')" || echo " Pillow: FAILED"
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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 "Verifying installation..."
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echo "Quick start:"
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echo " source activate.sh"
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echo " python standalone_simulation.py"
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echo ""
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echo -n " ROS 2: "
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ros2 --version 2>/dev/null && echo "" || echo "FAILED"
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echo -n " PyBullet: "
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python3 -c "import pybullet; print('OK')" 2>/dev/null || echo "FAILED"
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echo -n " rclpy: "
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python3 -c "import rclpy; print('OK')" 2>/dev/null || echo "FAILED"
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echo -n " PyInstaller: "
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python3 -c "import PyInstaller; print('OK')" 2>/dev/null || echo "FAILED"
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echo ""
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echo "=============================================="
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echo " IMPORTANT: Activate the environment first!"
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echo "=============================================="
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echo ""
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echo "Before running any scripts, activate the environment:"
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echo " source $ACTIVATE_SCRIPT"
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echo ""
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echo "Then run the simulation:"
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echo " python simulation_host.py"
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echo "With moving rover:"
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echo " python standalone_simulation.py --pattern circular --speed 0.3"
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echo ""
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@@ -2,23 +2,19 @@
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# =============================================================================
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# Drone Simulation - Ubuntu/Debian Installation Script
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# =============================================================================
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# Installs ROS 2 Humble/Jazzy, PyBullet, and all required dependencies
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# Uses a Python virtual environment for pip packages (PEP 668 compliant)
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# Installs ROS 2, Gazebo, PyBullet, and all required dependencies
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#
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# Usage:
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# chmod +x install_ubuntu.sh
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# ./install_ubuntu.sh
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#
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# Tested on: Ubuntu 22.04 LTS, Ubuntu 24.04 LTS
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# Usage: ./install_ubuntu.sh
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# =============================================================================
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set -e # Exit on error
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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 "=============================================="
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echo ""
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# Get the script directory and project root
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# Get script directory and project root
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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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@@ -27,71 +23,87 @@ echo "[INFO] Project root: $PROJECT_ROOT"
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echo "[INFO] Virtual environment: $VENV_DIR"
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# Detect Ubuntu version
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UBUNTU_VERSION=$(lsb_release -rs)
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echo "[INFO] Detected Ubuntu version: $UBUNTU_VERSION"
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# Determine ROS 2 distribution based on Ubuntu version
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if [[ "$UBUNTU_VERSION" == "22.04" ]]; then
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ROS_DISTRO="humble"
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elif [[ "$UBUNTU_VERSION" == "24.04" ]]; then
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ROS_DISTRO="jazzy"
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if [ -f /etc/os-release ]; then
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. /etc/os-release
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UBUNTU_VERSION=$VERSION_ID
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echo "[INFO] Detected: $NAME $VERSION_ID"
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else
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echo "[WARN] Ubuntu $UBUNTU_VERSION may not be officially supported."
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echo " Attempting to install ROS 2 Humble..."
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echo "[WARN] Could not detect Ubuntu version, assuming 22.04"
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UBUNTU_VERSION="22.04"
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fi
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# -----------------------------------------------------------------------------
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# Step 1: System Dependencies
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# -----------------------------------------------------------------------------
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echo ""
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echo "[STEP 1/8] Installing system dependencies..."
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sudo apt-get update
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sudo apt-get install -y \
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curl \
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gnupg \
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lsb-release \
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software-properties-common \
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python3 \
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python3-pip \
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python3-venv \
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git
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echo "[INFO] 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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echo ""
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echo "[STEP 2/8] Setting up ROS 2 repository..."
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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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# Determine ROS 2 distro based on Ubuntu version
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if [ "$UBUNTU_VERSION" = "24.04" ]; then
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ROS_DISTRO="jazzy"
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elif [ "$UBUNTU_VERSION" = "22.04" ]; then
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ROS_DISTRO="humble"
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else
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echo "[WARN] Ubuntu $UBUNTU_VERSION not officially supported, trying humble"
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ROS_DISTRO="humble"
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fi
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echo "[INFO] Will install ROS 2 $ROS_DISTRO"
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echo "[INFO] Using ROS 2 $ROS_DISTRO"
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# -----------------------------------------------------------------------------
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# Step 1: Set Locale
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# -----------------------------------------------------------------------------
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echo ""
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echo "[STEP 1/7] Setting locale..."
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sudo apt update && sudo apt install -y locales
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sudo locale-gen en_US en_US.UTF-8
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sudo update-locale LC_ALL=en_US.UTF-8 LANG=en_US.UTF-8
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export LANG=en_US.UTF-8
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# -----------------------------------------------------------------------------
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# Step 2: Add ROS 2 Repository
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# -----------------------------------------------------------------------------
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echo ""
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echo "[STEP 2/7] Adding ROS 2 apt repository..."
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sudo apt install -y software-properties-common
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sudo add-apt-repository -y universe
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sudo apt update && sudo apt install -y curl
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sudo curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key \
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-o /usr/share/keyrings/ros-archive-keyring.gpg
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echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] http://packages.ros.org/ros2/ubuntu $(. /etc/os-release && echo $UBUNTU_CODENAME) main" \
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| sudo tee /etc/apt/sources.list.d/ros2.list > /dev/null
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# Add repository
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echo "deb [arch=$(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 3/8] Installing ROS 2 $ROS_DISTRO..."
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sudo apt update
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sudo apt install -y ros-${ROS_DISTRO}-desktop
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# Install development tools
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sudo apt install -y python3-colcon-common-extensions python3-rosdep
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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-${ROS_DISTRO}-sensor-msgs
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# Install Gazebo and ROS-Gazebo bridge
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echo "[INFO] Installing Gazebo and ros_gz_bridge..."
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sudo apt install -y ros-${ROS_DISTRO}-ros-gz ros-${ROS_DISTRO}-ros-gz-bridge
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echo "[INFO] ROS 2 $ROS_DISTRO installed"
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# -----------------------------------------------------------------------------
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# Step 4: Initialize rosdep
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# Step 4: Install Gazebo (optional)
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# -----------------------------------------------------------------------------
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echo ""
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echo "[STEP 4/8] Initializing rosdep..."
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if [ ! -f /etc/ros/rosdep/sources.list.d/20-default.list ]; then
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sudo rosdep init
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echo "[STEP 4/8] Installing Gazebo..."
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if [ "$ROS_DISTRO" = "jazzy" ]; then
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GZ_VERSION="harmonic"
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else
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GZ_VERSION="fortress"
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fi
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rosdep update
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sudo apt-get install -y ros-${ROS_DISTRO}-ros-gz || {
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echo "[WARN] Could not install ros-gz, Gazebo simulation will not be available"
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echo "[INFO] PyBullet simulation will still work"
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}
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echo "[INFO] Gazebo installation complete"
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# -----------------------------------------------------------------------------
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# Step 5: Create Python Virtual Environment
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@@ -99,35 +111,34 @@ rosdep update
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echo ""
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echo "[STEP 5/8] Creating Python virtual environment..."
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# Install venv package if not present
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sudo apt install -y python3-venv python3-full
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# Remove existing venv if present
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if [ -d "$VENV_DIR" ]; then
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rm -rf "$VENV_DIR"
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fi
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# Create virtual environment with access to system site-packages
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# This allows access to ROS 2 packages installed via apt
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python3 -m venv "$VENV_DIR" --system-site-packages
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# Create virtual environment
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python3 -m venv "$VENV_DIR"
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echo "[INFO] Virtual environment created at: $VENV_DIR"
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# -----------------------------------------------------------------------------
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# Step 6: Install Python Dependencies in venv
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# Step 6: Install Python Dependencies
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# -----------------------------------------------------------------------------
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echo ""
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echo "[STEP 6/8] Installing Python dependencies in virtual environment..."
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||||
echo "[STEP 6/8] Installing Python dependencies..."
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||||
|
||||
# Activate venv and install packages
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source "$VENV_DIR/bin/activate"
|
||||
|
||||
# Upgrade pip
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pip install --upgrade pip
|
||||
|
||||
# Install from requirements.txt if it exists
|
||||
if [ -f "$PROJECT_ROOT/requirements.txt" ]; then
|
||||
echo "[INFO] Installing from requirements.txt..."
|
||||
pip install -r "$PROJECT_ROOT/requirements.txt"
|
||||
else
|
||||
pip install pybullet pyinstaller
|
||||
echo "[INFO] Installing packages manually..."
|
||||
pip install pybullet numpy pillow pyinstaller
|
||||
fi
|
||||
|
||||
echo "[INFO] Python packages installed in venv"
|
||||
echo "[INFO] Python packages installed"
|
||||
|
||||
# -----------------------------------------------------------------------------
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||||
# Step 7: Create Activation Script
|
||||
@@ -135,81 +146,67 @@ echo "[INFO] Python packages installed in venv"
|
||||
echo ""
|
||||
echo "[STEP 7/8] Creating activation script..."
|
||||
|
||||
ACTIVATE_SCRIPT="$PROJECT_ROOT/activate.sh"
|
||||
cat > "$ACTIVATE_SCRIPT" << EOF
|
||||
cat > "$PROJECT_ROOT/activate.sh" << 'EOF'
|
||||
#!/bin/bash
|
||||
# =============================================================================
|
||||
# Drone Competition - Environment Activation Script
|
||||
# =============================================================================
|
||||
# This script activates both ROS 2 and the Python virtual environment.
|
||||
#
|
||||
# Usage:
|
||||
# source activate.sh
|
||||
# =============================================================================
|
||||
# Drone Simulation - Environment Activation
|
||||
|
||||
# Get the directory where this script is located
|
||||
SCRIPT_DIR="\$(cd "\$(dirname "\${BASH_SOURCE[0]}")" && pwd)"
|
||||
SCRIPT_DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" && pwd)"
|
||||
|
||||
# Source ROS 2
|
||||
source /opt/ros/${ROS_DISTRO}/setup.bash
|
||||
echo "[OK] ROS 2 ${ROS_DISTRO} sourced"
|
||||
if [ -f "/opt/ros/jazzy/setup.bash" ]; then
|
||||
source /opt/ros/jazzy/setup.bash
|
||||
echo "[OK] ROS 2 jazzy sourced"
|
||||
elif [ -f "/opt/ros/humble/setup.bash" ]; then
|
||||
source /opt/ros/humble/setup.bash
|
||||
echo "[OK] ROS 2 humble sourced"
|
||||
else
|
||||
echo "[WARN] ROS 2 not found - standalone_simulation.py will work"
|
||||
fi
|
||||
|
||||
# Activate Python virtual environment
|
||||
source "\$SCRIPT_DIR/venv/bin/activate"
|
||||
echo "[OK] Python venv activated"
|
||||
# Activate Python venv
|
||||
if [ -f "$SCRIPT_DIR/venv/bin/activate" ]; then
|
||||
source "$SCRIPT_DIR/venv/bin/activate"
|
||||
echo "[OK] Python venv activated"
|
||||
fi
|
||||
|
||||
# Set Gazebo model path
|
||||
export GZ_SIM_RESOURCE_PATH="$SCRIPT_DIR/gazebo/models:$GZ_SIM_RESOURCE_PATH"
|
||||
|
||||
echo ""
|
||||
echo "Environment ready! You can now run:"
|
||||
echo " python simulation_host.py # PyBullet"
|
||||
echo " python gazebo_bridge.py # Gazebo"
|
||||
echo " python ros_bridge.py"
|
||||
echo "Environment ready! Run one of:"
|
||||
echo " python standalone_simulation.py (No ROS 2 required)"
|
||||
echo " python simulation_host.py (With ROS 2)"
|
||||
echo ""
|
||||
EOF
|
||||
|
||||
chmod +x "$ACTIVATE_SCRIPT"
|
||||
echo "[INFO] Created activation script: $ACTIVATE_SCRIPT"
|
||||
chmod +x "$PROJECT_ROOT/activate.sh"
|
||||
echo "[INFO] Created: $PROJECT_ROOT/activate.sh"
|
||||
|
||||
# -----------------------------------------------------------------------------
|
||||
# Verification
|
||||
# Step 8: Verification
|
||||
# -----------------------------------------------------------------------------
|
||||
echo ""
|
||||
echo "[STEP 8/8] Verifying installation..."
|
||||
|
||||
source "$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"
|
||||
|
||||
echo ""
|
||||
echo "=============================================="
|
||||
echo " Installation Complete!"
|
||||
echo "=============================================="
|
||||
echo ""
|
||||
echo "Verifying installation..."
|
||||
echo "Quick start:"
|
||||
echo " source activate.sh"
|
||||
echo " python standalone_simulation.py"
|
||||
echo ""
|
||||
|
||||
# Ensure we're in venv
|
||||
source "$VENV_DIR/bin/activate"
|
||||
source /opt/ros/${ROS_DISTRO}/setup.bash
|
||||
|
||||
echo -n " ROS 2: "
|
||||
ros2 --version 2>/dev/null && echo "" || echo "FAILED"
|
||||
|
||||
echo -n " PyBullet: "
|
||||
python3 -c "import pybullet; print('OK')" 2>/dev/null || echo "FAILED"
|
||||
|
||||
echo -n " rclpy: "
|
||||
python3 -c "import rclpy; print('OK')" 2>/dev/null || echo "FAILED"
|
||||
|
||||
echo -n " geometry_msgs: "
|
||||
python3 -c "from geometry_msgs.msg import Twist; print('OK')" 2>/dev/null || echo "FAILED"
|
||||
|
||||
echo -n " std_msgs: "
|
||||
python3 -c "from std_msgs.msg import String; print('OK')" 2>/dev/null || echo "FAILED"
|
||||
|
||||
echo -n " PyInstaller: "
|
||||
python3 -c "import PyInstaller; print('OK')" 2>/dev/null || echo "FAILED"
|
||||
|
||||
echo ""
|
||||
echo "=============================================="
|
||||
echo " IMPORTANT: Activate the environment first!"
|
||||
echo "=============================================="
|
||||
echo ""
|
||||
echo "Before running any scripts, activate the environment:"
|
||||
echo " source $ACTIVATE_SCRIPT"
|
||||
echo ""
|
||||
echo "Then run the simulation:"
|
||||
echo " python simulation_host.py"
|
||||
echo "Or with ROS 2:"
|
||||
echo " python simulation_host.py # Terminal 1"
|
||||
echo " python ros_bridge.py # Terminal 2"
|
||||
echo " python controllers.py # Terminal 3"
|
||||
echo ""
|
||||
|
||||
@@ -1,15 +1,13 @@
|
||||
# =============================================================================
|
||||
# Drone Simulation - Windows Installation Script (PowerShell)
|
||||
# =============================================================================
|
||||
# Installs ROS 2 Humble, PyBullet, and all required dependencies
|
||||
# Uses a Python virtual environment for pip packages
|
||||
# Installs PyBullet and Python dependencies
|
||||
# ROS 2 is optional (complex setup, not required for standalone mode)
|
||||
#
|
||||
# Usage:
|
||||
# 1. Open PowerShell as Administrator
|
||||
# 2. Run: Set-ExecutionPolicy RemoteSigned -Scope CurrentUser
|
||||
# 3. Run: .\install_windows.ps1
|
||||
#
|
||||
# Tested on: Windows 10/11
|
||||
# =============================================================================
|
||||
|
||||
Write-Host "==============================================" -ForegroundColor Cyan
|
||||
@@ -29,14 +27,12 @@ Write-Host "[INFO] Virtual environment: $VenvDir" -ForegroundColor Gray
|
||||
$isAdmin = ([Security.Principal.WindowsPrincipal] [Security.Principal.WindowsIdentity]::GetCurrent()).IsInRole([Security.Principal.WindowsBuiltInRole]::Administrator)
|
||||
if (-not $isAdmin) {
|
||||
Write-Host "[WARN] Not running as Administrator. Some installations may fail." -ForegroundColor Yellow
|
||||
Write-Host " Consider running PowerShell as Administrator." -ForegroundColor Yellow
|
||||
Write-Host ""
|
||||
}
|
||||
|
||||
# Function to refresh environment PATH
|
||||
function Refresh-Path {
|
||||
$env:Path = [System.Environment]::GetEnvironmentVariable("Path","Machine") + ";" + [System.Environment]::GetEnvironmentVariable("Path","User")
|
||||
# Also add common Chocolatey paths
|
||||
$chocoPath = "$env:ProgramData\chocolatey\bin"
|
||||
if (Test-Path $chocoPath) {
|
||||
$env:Path = "$chocoPath;$env:Path"
|
||||
@@ -46,14 +42,14 @@ function Refresh-Path {
|
||||
# -----------------------------------------------------------------------------
|
||||
# Step 1: Install Chocolatey (Package Manager)
|
||||
# -----------------------------------------------------------------------------
|
||||
Write-Host "[STEP 1/7] Checking Chocolatey..." -ForegroundColor Green
|
||||
Write-Host "[STEP 1/5] Checking Chocolatey..." -ForegroundColor Green
|
||||
|
||||
$chocoInstalled = $false
|
||||
try {
|
||||
$chocoVersion = choco --version 2>$null
|
||||
if ($chocoVersion) {
|
||||
$chocoInstalled = $true
|
||||
Write-Host "[INFO] Chocolatey already installed (version $chocoVersion)" -ForegroundColor Green
|
||||
Write-Host "[INFO] Chocolatey already installed" -ForegroundColor Green
|
||||
}
|
||||
} catch {
|
||||
$chocoInstalled = $false
|
||||
@@ -67,23 +63,10 @@ if (-not $chocoInstalled) {
|
||||
[System.Net.ServicePointManager]::SecurityProtocol = [System.Net.ServicePointManager]::SecurityProtocol -bor 3072
|
||||
Invoke-Expression ((New-Object System.Net.WebClient).DownloadString('https://community.chocolatey.org/install.ps1'))
|
||||
|
||||
# Refresh environment to find choco
|
||||
Refresh-Path
|
||||
|
||||
# Verify installation
|
||||
$chocoPath = "$env:ProgramData\chocolatey\bin\choco.exe"
|
||||
if (Test-Path $chocoPath) {
|
||||
Write-Host "[INFO] Chocolatey installed successfully" -ForegroundColor Green
|
||||
} else {
|
||||
Write-Host "[ERROR] Chocolatey installation failed. Please install manually:" -ForegroundColor Red
|
||||
Write-Host " https://chocolatey.org/install" -ForegroundColor Yellow
|
||||
Write-Host "[INFO] After installing Chocolatey, close and reopen PowerShell, then run this script again." -ForegroundColor Yellow
|
||||
exit 1
|
||||
}
|
||||
Write-Host "[INFO] Chocolatey installed" -ForegroundColor Green
|
||||
} catch {
|
||||
Write-Host "[ERROR] Failed to install Chocolatey: $_" -ForegroundColor Red
|
||||
Write-Host "[INFO] Please install Chocolatey manually: https://chocolatey.org/install" -ForegroundColor Yellow
|
||||
exit 1
|
||||
Write-Host "[WARN] Chocolatey installation failed, continuing..." -ForegroundColor Yellow
|
||||
}
|
||||
}
|
||||
|
||||
@@ -91,7 +74,7 @@ if (-not $chocoInstalled) {
|
||||
# Step 2: Install Python
|
||||
# -----------------------------------------------------------------------------
|
||||
Write-Host ""
|
||||
Write-Host "[STEP 2/7] Installing Python..." -ForegroundColor Green
|
||||
Write-Host "[STEP 2/5] Checking Python..." -ForegroundColor Green
|
||||
|
||||
$pythonInstalled = $false
|
||||
try {
|
||||
@@ -107,241 +90,137 @@ try {
|
||||
if (-not $pythonInstalled) {
|
||||
Write-Host "[INFO] Installing Python 3.11..." -ForegroundColor Yellow
|
||||
|
||||
# Use full path to choco if needed
|
||||
$chocoExe = "$env:ProgramData\chocolatey\bin\choco.exe"
|
||||
if (Test-Path $chocoExe) {
|
||||
& $chocoExe install python311 -y
|
||||
} else {
|
||||
choco install python311 -y
|
||||
Write-Host "[ERROR] Please install Python 3.11 manually from https://python.org" -ForegroundColor Red
|
||||
exit 1
|
||||
}
|
||||
|
||||
Refresh-Path
|
||||
|
||||
# Verify
|
||||
try {
|
||||
$pythonVersion = python --version
|
||||
Write-Host "[INFO] Python installed ($pythonVersion)" -ForegroundColor Green
|
||||
} catch {
|
||||
Write-Host "[ERROR] Python installation failed" -ForegroundColor Red
|
||||
Write-Host "[INFO] Please install Python 3.11 manually from https://python.org" -ForegroundColor Yellow
|
||||
exit 1
|
||||
}
|
||||
}
|
||||
|
||||
# -----------------------------------------------------------------------------
|
||||
# Step 3: Install Visual C++ Build Tools (optional but recommended)
|
||||
# Step 3: Create Python Virtual Environment
|
||||
# -----------------------------------------------------------------------------
|
||||
Write-Host ""
|
||||
Write-Host "[STEP 3/7] Checking Visual C++ Build Tools..." -ForegroundColor Green
|
||||
Write-Host "[STEP 3/5] Creating Python virtual environment..." -ForegroundColor Green
|
||||
|
||||
# Check if cl.exe exists (Visual C++ compiler)
|
||||
$vsInstalled = $false
|
||||
$vsPaths = @(
|
||||
"C:\Program Files\Microsoft Visual Studio\2022\BuildTools\VC\Tools\MSVC",
|
||||
"C:\Program Files\Microsoft Visual Studio\2022\Community\VC\Tools\MSVC",
|
||||
"C:\Program Files (x86)\Microsoft Visual Studio\2019\BuildTools\VC\Tools\MSVC"
|
||||
)
|
||||
|
||||
foreach ($path in $vsPaths) {
|
||||
if (Test-Path $path) {
|
||||
$vsInstalled = $true
|
||||
Write-Host "[INFO] Visual C++ Build Tools found" -ForegroundColor Green
|
||||
break
|
||||
}
|
||||
}
|
||||
|
||||
if (-not $vsInstalled) {
|
||||
Write-Host "[INFO] Visual C++ Build Tools not found" -ForegroundColor Yellow
|
||||
Write-Host "[INFO] Attempting to install (this may take 10-20 minutes)..." -ForegroundColor Yellow
|
||||
|
||||
try {
|
||||
$chocoExe = "$env:ProgramData\chocolatey\bin\choco.exe"
|
||||
if (Test-Path $chocoExe) {
|
||||
& $chocoExe install visualstudio2022-workload-vctools -y
|
||||
} else {
|
||||
choco install visualstudio2022-workload-vctools -y
|
||||
}
|
||||
Write-Host "[INFO] Visual C++ Build Tools installed" -ForegroundColor Green
|
||||
} catch {
|
||||
Write-Host "[WARN] Could not install Visual C++ Build Tools automatically" -ForegroundColor Yellow
|
||||
Write-Host "[INFO] PyBullet may fail to install. If it does, install Visual Studio Build Tools manually:" -ForegroundColor Yellow
|
||||
Write-Host " https://visualstudio.microsoft.com/visual-cpp-build-tools/" -ForegroundColor Yellow
|
||||
}
|
||||
}
|
||||
|
||||
# -----------------------------------------------------------------------------
|
||||
# Step 4: Download and Install ROS 2
|
||||
# -----------------------------------------------------------------------------
|
||||
Write-Host ""
|
||||
Write-Host "[STEP 4/7] Installing ROS 2 Humble..." -ForegroundColor Green
|
||||
|
||||
$ros2Path = "C:\dev\ros2_humble"
|
||||
|
||||
if (-not (Test-Path $ros2Path)) {
|
||||
Write-Host "[INFO] Downloading ROS 2 Humble..." -ForegroundColor Yellow
|
||||
|
||||
# Create installation directory
|
||||
New-Item -ItemType Directory -Force -Path "C:\dev" | Out-Null
|
||||
|
||||
# Download ROS 2 binary
|
||||
$ros2Url = "https://github.com/ros2/ros2/releases/download/release-humble-20240523/ros2-humble-20240523-windows-release-amd64.zip"
|
||||
$ros2Zip = "$env:TEMP\ros2-humble.zip"
|
||||
|
||||
Write-Host "[INFO] This may take a while (1-2 GB download)..." -ForegroundColor Yellow
|
||||
|
||||
try {
|
||||
# Use BITS for more reliable download
|
||||
Start-BitsTransfer -Source $ros2Url -Destination $ros2Zip -DisplayName "Downloading ROS 2"
|
||||
} catch {
|
||||
# Fallback to Invoke-WebRequest
|
||||
Write-Host "[INFO] Using alternative download method..." -ForegroundColor Yellow
|
||||
Invoke-WebRequest -Uri $ros2Url -OutFile $ros2Zip
|
||||
}
|
||||
|
||||
Write-Host "[INFO] Extracting ROS 2..." -ForegroundColor Yellow
|
||||
Expand-Archive -Path $ros2Zip -DestinationPath "C:\dev" -Force
|
||||
Remove-Item $ros2Zip
|
||||
|
||||
Write-Host "[INFO] ROS 2 installed to $ros2Path" -ForegroundColor Green
|
||||
} else {
|
||||
Write-Host "[INFO] ROS 2 already installed at $ros2Path" -ForegroundColor Green
|
||||
}
|
||||
|
||||
# -----------------------------------------------------------------------------
|
||||
# Step 5: Create Python Virtual Environment
|
||||
# -----------------------------------------------------------------------------
|
||||
Write-Host ""
|
||||
Write-Host "[STEP 5/7] Creating Python virtual environment..." -ForegroundColor Green
|
||||
|
||||
# Remove existing venv if present
|
||||
if (Test-Path $VenvDir) {
|
||||
Remove-Item -Recurse -Force $VenvDir
|
||||
}
|
||||
|
||||
# Create virtual environment
|
||||
python -m venv $VenvDir
|
||||
|
||||
Write-Host "[INFO] Virtual environment created at: $VenvDir" -ForegroundColor Green
|
||||
Write-Host "[INFO] Virtual environment created" -ForegroundColor Green
|
||||
|
||||
# -----------------------------------------------------------------------------
|
||||
# Step 6: Install Python Dependencies in venv
|
||||
# Step 4: Install Python Dependencies
|
||||
# -----------------------------------------------------------------------------
|
||||
Write-Host ""
|
||||
Write-Host "[STEP 6/7] Installing Python dependencies in virtual environment..." -ForegroundColor Green
|
||||
Write-Host "[STEP 4/5] Installing Python dependencies..." -ForegroundColor Green
|
||||
|
||||
# Activate venv and install packages
|
||||
& "$VenvDir\Scripts\Activate.ps1"
|
||||
|
||||
python -m pip install --upgrade pip
|
||||
|
||||
$requirementsFile = Join-Path $ProjectRoot "requirements.txt"
|
||||
if (Test-Path $requirementsFile) {
|
||||
Write-Host "[INFO] Installing from requirements.txt..." -ForegroundColor Gray
|
||||
pip install -r $requirementsFile
|
||||
} else {
|
||||
pip install pybullet pyinstaller pillow
|
||||
Write-Host "[INFO] Installing packages manually..." -ForegroundColor Gray
|
||||
pip install pybullet
|
||||
pip install numpy
|
||||
pip install pillow
|
||||
pip install pyinstaller
|
||||
}
|
||||
|
||||
Write-Host "[INFO] Python packages installed in venv" -ForegroundColor Green
|
||||
Write-Host "[INFO] Python packages installed" -ForegroundColor Green
|
||||
|
||||
# -----------------------------------------------------------------------------
|
||||
# Step 7: Create Activation Script
|
||||
# Step 5: Create Activation Scripts
|
||||
# -----------------------------------------------------------------------------
|
||||
Write-Host ""
|
||||
Write-Host "[STEP 7/7] Creating activation scripts..." -ForegroundColor Green
|
||||
Write-Host "[STEP 5/5] Creating activation scripts..." -ForegroundColor Green
|
||||
|
||||
# Create batch file for cmd.exe
|
||||
$activateBat = Join-Path $ProjectRoot "activate.bat"
|
||||
@"
|
||||
@echo off
|
||||
REM =============================================================================
|
||||
REM Drone Simulation - Environment Activation Script (Windows CMD)
|
||||
REM =============================================================================
|
||||
REM Usage: activate.bat
|
||||
REM =============================================================================
|
||||
REM Drone Simulation - Environment Activation (Windows CMD)
|
||||
|
||||
echo Activating ROS 2 Humble...
|
||||
call C:\dev\ros2_humble\local_setup.bat
|
||||
|
||||
echo Activating Python virtual environment...
|
||||
call "%~dp0venv\Scripts\activate.bat"
|
||||
|
||||
echo.
|
||||
echo [OK] Environment ready! You can now run:
|
||||
echo python simulation_host.py
|
||||
echo python ros_bridge.py
|
||||
echo python controllers.py
|
||||
echo [OK] Environment ready!
|
||||
echo.
|
||||
echo Run: python standalone_simulation.py
|
||||
echo.
|
||||
"@ | Out-File -FilePath $activateBat -Encoding ASCII
|
||||
|
||||
# Create PowerShell script
|
||||
$activatePs1 = Join-Path $ProjectRoot "activate.ps1"
|
||||
@"
|
||||
# =============================================================================
|
||||
# Drone Simulation - Environment Activation Script (Windows PowerShell)
|
||||
# =============================================================================
|
||||
# Drone Simulation - Environment Activation (Windows PowerShell)
|
||||
# Usage: . .\activate.ps1
|
||||
# =============================================================================
|
||||
|
||||
`$ScriptDir = Split-Path -Parent `$MyInvocation.MyCommand.Path
|
||||
|
||||
Write-Host "Activating ROS 2 Humble..." -ForegroundColor Yellow
|
||||
& "C:\dev\ros2_humble\local_setup.ps1"
|
||||
|
||||
Write-Host "Activating Python virtual environment..." -ForegroundColor Yellow
|
||||
# Activate Python virtual environment
|
||||
& "`$ScriptDir\venv\Scripts\Activate.ps1"
|
||||
|
||||
Write-Host ""
|
||||
Write-Host "[OK] Environment ready! You can now run:" -ForegroundColor Green
|
||||
Write-Host " python simulation_host.py"
|
||||
Write-Host " python ros_bridge.py"
|
||||
Write-Host " python controllers.py"
|
||||
Write-Host "[OK] Environment ready!" -ForegroundColor Green
|
||||
Write-Host ""
|
||||
Write-Host "Run: python standalone_simulation.py" -ForegroundColor White
|
||||
Write-Host ""
|
||||
"@ | Out-File -FilePath $activatePs1 -Encoding UTF8
|
||||
|
||||
Write-Host "[INFO] Created activation scripts:" -ForegroundColor Green
|
||||
Write-Host " $activateBat (for CMD)" -ForegroundColor Gray
|
||||
Write-Host " $activatePs1 (for PowerShell)" -ForegroundColor Gray
|
||||
Write-Host "[INFO] Created activation scripts" -ForegroundColor Green
|
||||
|
||||
# -----------------------------------------------------------------------------
|
||||
# Verification
|
||||
# -----------------------------------------------------------------------------
|
||||
Write-Host ""
|
||||
Write-Host "==============================================" -ForegroundColor Cyan
|
||||
Write-Host " Installation Complete!" -ForegroundColor Cyan
|
||||
Write-Host " Verifying Installation..." -ForegroundColor Cyan
|
||||
Write-Host "==============================================" -ForegroundColor Cyan
|
||||
Write-Host ""
|
||||
Write-Host "Verifying installation..." -ForegroundColor Yellow
|
||||
Write-Host ""
|
||||
|
||||
try {
|
||||
python -c "import pybullet; print(' PyBullet: OK')"
|
||||
} catch {
|
||||
$pybulletOk = python -c "import pybullet; print(' PyBullet: OK')" 2>&1
|
||||
if ($LASTEXITCODE -eq 0) {
|
||||
Write-Host $pybulletOk -ForegroundColor Green
|
||||
} else {
|
||||
Write-Host " PyBullet: FAILED" -ForegroundColor Red
|
||||
}
|
||||
|
||||
try {
|
||||
python -c "import PyInstaller; print(' PyInstaller: OK')"
|
||||
} catch {
|
||||
Write-Host " PyInstaller: FAILED" -ForegroundColor Red
|
||||
$numpyOk = python -c "import numpy; print(' NumPy: OK')" 2>&1
|
||||
if ($LASTEXITCODE -eq 0) {
|
||||
Write-Host $numpyOk -ForegroundColor Green
|
||||
} else {
|
||||
Write-Host " NumPy: FAILED" -ForegroundColor Red
|
||||
}
|
||||
|
||||
try {
|
||||
python -c "import PIL; print(' Pillow: OK')"
|
||||
} catch {
|
||||
Write-Host " Pillow: FAILED" -ForegroundColor Red
|
||||
$pillowOk = python -c "from PIL import Image; print(' Pillow: OK')" 2>&1
|
||||
if ($LASTEXITCODE -eq 0) {
|
||||
Write-Host $pillowOk -ForegroundColor Green
|
||||
} else {
|
||||
Write-Host " Pillow: FAILED (install with: pip install pillow)" -ForegroundColor Yellow
|
||||
}
|
||||
|
||||
Write-Host ""
|
||||
Write-Host "==============================================" -ForegroundColor Cyan
|
||||
Write-Host " IMPORTANT: Activate the environment first!" -ForegroundColor Cyan
|
||||
Write-Host " Installation Complete!" -ForegroundColor Cyan
|
||||
Write-Host "==============================================" -ForegroundColor Cyan
|
||||
Write-Host ""
|
||||
Write-Host "Before running any scripts, activate the environment:" -ForegroundColor Yellow
|
||||
Write-Host " CMD: $activateBat" -ForegroundColor White
|
||||
Write-Host " PowerShell: . $activatePs1" -ForegroundColor White
|
||||
Write-Host "Quick start:" -ForegroundColor Yellow
|
||||
Write-Host " . .\activate.ps1" -ForegroundColor White
|
||||
Write-Host " python standalone_simulation.py" -ForegroundColor White
|
||||
Write-Host ""
|
||||
Write-Host "Then run the simulation:" -ForegroundColor Yellow
|
||||
Write-Host " python simulation_host.py" -ForegroundColor White
|
||||
Write-Host " python ros_bridge.py" -ForegroundColor White
|
||||
Write-Host " python controllers.py" -ForegroundColor White
|
||||
Write-Host "With moving rover:" -ForegroundColor Yellow
|
||||
Write-Host " python standalone_simulation.py --pattern circular --speed 0.3" -ForegroundColor White
|
||||
Write-Host ""
|
||||
Write-Host "Note: ROS 2 and Gazebo are not supported on Windows." -ForegroundColor Gray
|
||||
Write-Host " standalone_simulation.py provides the complete experience." -ForegroundColor Gray
|
||||
Write-Host ""
|
||||
|
||||
Reference in New Issue
Block a user