Scripts and simulation packaging update
This commit is contained in:
@@ -1,15 +1,13 @@
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# =============================================================================
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# Drone Simulation - Windows Installation Script (PowerShell)
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# =============================================================================
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# Installs ROS 2 Humble, PyBullet, and all required dependencies
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# Uses a Python virtual environment for pip packages
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# Installs PyBullet and Python dependencies
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# ROS 2 is optional (complex setup, not required for standalone mode)
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#
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# Usage:
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# 1. Open PowerShell as Administrator
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# 2. Run: Set-ExecutionPolicy RemoteSigned -Scope CurrentUser
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# 3. Run: .\install_windows.ps1
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#
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# Tested on: Windows 10/11
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# =============================================================================
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Write-Host "==============================================" -ForegroundColor Cyan
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@@ -29,14 +27,12 @@ Write-Host "[INFO] Virtual environment: $VenvDir" -ForegroundColor Gray
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$isAdmin = ([Security.Principal.WindowsPrincipal] [Security.Principal.WindowsIdentity]::GetCurrent()).IsInRole([Security.Principal.WindowsBuiltInRole]::Administrator)
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if (-not $isAdmin) {
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Write-Host "[WARN] Not running as Administrator. Some installations may fail." -ForegroundColor Yellow
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Write-Host " Consider running PowerShell as Administrator." -ForegroundColor Yellow
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Write-Host ""
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}
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# Function to refresh environment PATH
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function Refresh-Path {
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$env:Path = [System.Environment]::GetEnvironmentVariable("Path","Machine") + ";" + [System.Environment]::GetEnvironmentVariable("Path","User")
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# Also add common Chocolatey paths
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$chocoPath = "$env:ProgramData\chocolatey\bin"
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if (Test-Path $chocoPath) {
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$env:Path = "$chocoPath;$env:Path"
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@@ -46,14 +42,14 @@ function Refresh-Path {
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# -----------------------------------------------------------------------------
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# Step 1: Install Chocolatey (Package Manager)
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# -----------------------------------------------------------------------------
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Write-Host "[STEP 1/7] Checking Chocolatey..." -ForegroundColor Green
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Write-Host "[STEP 1/5] Checking Chocolatey..." -ForegroundColor Green
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$chocoInstalled = $false
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try {
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$chocoVersion = choco --version 2>$null
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if ($chocoVersion) {
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$chocoInstalled = $true
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Write-Host "[INFO] Chocolatey already installed (version $chocoVersion)" -ForegroundColor Green
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Write-Host "[INFO] Chocolatey already installed" -ForegroundColor Green
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}
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} catch {
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$chocoInstalled = $false
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@@ -67,23 +63,10 @@ if (-not $chocoInstalled) {
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[System.Net.ServicePointManager]::SecurityProtocol = [System.Net.ServicePointManager]::SecurityProtocol -bor 3072
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Invoke-Expression ((New-Object System.Net.WebClient).DownloadString('https://community.chocolatey.org/install.ps1'))
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# Refresh environment to find choco
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Refresh-Path
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# Verify installation
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$chocoPath = "$env:ProgramData\chocolatey\bin\choco.exe"
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if (Test-Path $chocoPath) {
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Write-Host "[INFO] Chocolatey installed successfully" -ForegroundColor Green
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} else {
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Write-Host "[ERROR] Chocolatey installation failed. Please install manually:" -ForegroundColor Red
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Write-Host " https://chocolatey.org/install" -ForegroundColor Yellow
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Write-Host "[INFO] After installing Chocolatey, close and reopen PowerShell, then run this script again." -ForegroundColor Yellow
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exit 1
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}
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Write-Host "[INFO] Chocolatey installed" -ForegroundColor Green
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} catch {
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Write-Host "[ERROR] Failed to install Chocolatey: $_" -ForegroundColor Red
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Write-Host "[INFO] Please install Chocolatey manually: https://chocolatey.org/install" -ForegroundColor Yellow
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exit 1
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Write-Host "[WARN] Chocolatey installation failed, continuing..." -ForegroundColor Yellow
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}
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}
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@@ -91,7 +74,7 @@ if (-not $chocoInstalled) {
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# Step 2: Install Python
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# -----------------------------------------------------------------------------
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Write-Host ""
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Write-Host "[STEP 2/7] Installing Python..." -ForegroundColor Green
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Write-Host "[STEP 2/5] Checking Python..." -ForegroundColor Green
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$pythonInstalled = $false
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try {
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@@ -107,241 +90,137 @@ try {
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if (-not $pythonInstalled) {
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Write-Host "[INFO] Installing Python 3.11..." -ForegroundColor Yellow
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# Use full path to choco if needed
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$chocoExe = "$env:ProgramData\chocolatey\bin\choco.exe"
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if (Test-Path $chocoExe) {
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& $chocoExe install python311 -y
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} else {
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choco install python311 -y
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Write-Host "[ERROR] Please install Python 3.11 manually from https://python.org" -ForegroundColor Red
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exit 1
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}
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Refresh-Path
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# Verify
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try {
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$pythonVersion = python --version
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Write-Host "[INFO] Python installed ($pythonVersion)" -ForegroundColor Green
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} catch {
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Write-Host "[ERROR] Python installation failed" -ForegroundColor Red
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Write-Host "[INFO] Please install Python 3.11 manually from https://python.org" -ForegroundColor Yellow
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exit 1
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}
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}
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# -----------------------------------------------------------------------------
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# Step 3: Install Visual C++ Build Tools (optional but recommended)
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# Step 3: Create Python Virtual Environment
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# -----------------------------------------------------------------------------
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Write-Host ""
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Write-Host "[STEP 3/7] Checking Visual C++ Build Tools..." -ForegroundColor Green
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Write-Host "[STEP 3/5] Creating Python virtual environment..." -ForegroundColor Green
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# Check if cl.exe exists (Visual C++ compiler)
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$vsInstalled = $false
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$vsPaths = @(
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"C:\Program Files\Microsoft Visual Studio\2022\BuildTools\VC\Tools\MSVC",
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"C:\Program Files\Microsoft Visual Studio\2022\Community\VC\Tools\MSVC",
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"C:\Program Files (x86)\Microsoft Visual Studio\2019\BuildTools\VC\Tools\MSVC"
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)
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foreach ($path in $vsPaths) {
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if (Test-Path $path) {
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$vsInstalled = $true
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Write-Host "[INFO] Visual C++ Build Tools found" -ForegroundColor Green
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break
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}
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}
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if (-not $vsInstalled) {
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Write-Host "[INFO] Visual C++ Build Tools not found" -ForegroundColor Yellow
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Write-Host "[INFO] Attempting to install (this may take 10-20 minutes)..." -ForegroundColor Yellow
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try {
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$chocoExe = "$env:ProgramData\chocolatey\bin\choco.exe"
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if (Test-Path $chocoExe) {
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& $chocoExe install visualstudio2022-workload-vctools -y
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} else {
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choco install visualstudio2022-workload-vctools -y
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}
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Write-Host "[INFO] Visual C++ Build Tools installed" -ForegroundColor Green
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} catch {
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Write-Host "[WARN] Could not install Visual C++ Build Tools automatically" -ForegroundColor Yellow
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Write-Host "[INFO] PyBullet may fail to install. If it does, install Visual Studio Build Tools manually:" -ForegroundColor Yellow
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Write-Host " https://visualstudio.microsoft.com/visual-cpp-build-tools/" -ForegroundColor Yellow
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}
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}
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# -----------------------------------------------------------------------------
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# Step 4: Download and Install ROS 2
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# -----------------------------------------------------------------------------
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Write-Host ""
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Write-Host "[STEP 4/7] Installing ROS 2 Humble..." -ForegroundColor Green
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$ros2Path = "C:\dev\ros2_humble"
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if (-not (Test-Path $ros2Path)) {
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Write-Host "[INFO] Downloading ROS 2 Humble..." -ForegroundColor Yellow
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# Create installation directory
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New-Item -ItemType Directory -Force -Path "C:\dev" | Out-Null
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# Download ROS 2 binary
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$ros2Url = "https://github.com/ros2/ros2/releases/download/release-humble-20240523/ros2-humble-20240523-windows-release-amd64.zip"
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$ros2Zip = "$env:TEMP\ros2-humble.zip"
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Write-Host "[INFO] This may take a while (1-2 GB download)..." -ForegroundColor Yellow
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try {
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# Use BITS for more reliable download
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Start-BitsTransfer -Source $ros2Url -Destination $ros2Zip -DisplayName "Downloading ROS 2"
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} catch {
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# Fallback to Invoke-WebRequest
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Write-Host "[INFO] Using alternative download method..." -ForegroundColor Yellow
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Invoke-WebRequest -Uri $ros2Url -OutFile $ros2Zip
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}
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Write-Host "[INFO] Extracting ROS 2..." -ForegroundColor Yellow
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Expand-Archive -Path $ros2Zip -DestinationPath "C:\dev" -Force
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Remove-Item $ros2Zip
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Write-Host "[INFO] ROS 2 installed to $ros2Path" -ForegroundColor Green
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} else {
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Write-Host "[INFO] ROS 2 already installed at $ros2Path" -ForegroundColor Green
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}
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# -----------------------------------------------------------------------------
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# Step 5: Create Python Virtual Environment
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# -----------------------------------------------------------------------------
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Write-Host ""
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Write-Host "[STEP 5/7] Creating Python virtual environment..." -ForegroundColor Green
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# Remove existing venv if present
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if (Test-Path $VenvDir) {
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Remove-Item -Recurse -Force $VenvDir
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}
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# Create virtual environment
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python -m venv $VenvDir
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Write-Host "[INFO] Virtual environment created at: $VenvDir" -ForegroundColor Green
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Write-Host "[INFO] Virtual environment created" -ForegroundColor Green
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# -----------------------------------------------------------------------------
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# Step 6: Install Python Dependencies in venv
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# Step 4: Install Python Dependencies
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# -----------------------------------------------------------------------------
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Write-Host ""
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Write-Host "[STEP 6/7] Installing Python dependencies in virtual environment..." -ForegroundColor Green
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Write-Host "[STEP 4/5] Installing Python dependencies..." -ForegroundColor Green
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# Activate venv and install packages
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& "$VenvDir\Scripts\Activate.ps1"
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python -m pip install --upgrade pip
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$requirementsFile = Join-Path $ProjectRoot "requirements.txt"
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if (Test-Path $requirementsFile) {
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Write-Host "[INFO] Installing from requirements.txt..." -ForegroundColor Gray
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pip install -r $requirementsFile
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} else {
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pip install pybullet pyinstaller pillow
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Write-Host "[INFO] Installing packages manually..." -ForegroundColor Gray
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pip install pybullet
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pip install numpy
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pip install pillow
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pip install pyinstaller
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}
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Write-Host "[INFO] Python packages installed in venv" -ForegroundColor Green
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Write-Host "[INFO] Python packages installed" -ForegroundColor Green
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# -----------------------------------------------------------------------------
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# Step 7: Create Activation Script
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# Step 5: Create Activation Scripts
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# -----------------------------------------------------------------------------
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Write-Host ""
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Write-Host "[STEP 7/7] Creating activation scripts..." -ForegroundColor Green
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Write-Host "[STEP 5/5] Creating activation scripts..." -ForegroundColor Green
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# Create batch file for cmd.exe
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$activateBat = Join-Path $ProjectRoot "activate.bat"
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@"
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@echo off
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REM =============================================================================
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REM Drone Simulation - Environment Activation Script (Windows CMD)
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REM =============================================================================
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REM Usage: activate.bat
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REM =============================================================================
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REM Drone Simulation - Environment Activation (Windows CMD)
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echo Activating ROS 2 Humble...
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call C:\dev\ros2_humble\local_setup.bat
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echo Activating Python virtual environment...
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call "%~dp0venv\Scripts\activate.bat"
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echo.
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echo [OK] 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 python controllers.py
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echo [OK] 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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"@ | Out-File -FilePath $activateBat -Encoding ASCII
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# Create PowerShell script
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$activatePs1 = Join-Path $ProjectRoot "activate.ps1"
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@"
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# =============================================================================
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# Drone Simulation - Environment Activation Script (Windows PowerShell)
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# =============================================================================
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# Drone Simulation - Environment Activation (Windows PowerShell)
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# Usage: . .\activate.ps1
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# =============================================================================
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`$ScriptDir = Split-Path -Parent `$MyInvocation.MyCommand.Path
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Write-Host "Activating ROS 2 Humble..." -ForegroundColor Yellow
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& "C:\dev\ros2_humble\local_setup.ps1"
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Write-Host "Activating Python virtual environment..." -ForegroundColor Yellow
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# Activate Python virtual environment
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& "`$ScriptDir\venv\Scripts\Activate.ps1"
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Write-Host ""
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Write-Host "[OK] Environment ready! You can now run:" -ForegroundColor Green
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Write-Host " python simulation_host.py"
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Write-Host " python ros_bridge.py"
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Write-Host " python controllers.py"
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Write-Host "[OK] Environment ready!" -ForegroundColor Green
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Write-Host ""
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Write-Host "Run: python standalone_simulation.py" -ForegroundColor White
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Write-Host ""
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"@ | Out-File -FilePath $activatePs1 -Encoding UTF8
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Write-Host "[INFO] Created activation scripts:" -ForegroundColor Green
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Write-Host " $activateBat (for CMD)" -ForegroundColor Gray
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Write-Host " $activatePs1 (for PowerShell)" -ForegroundColor Gray
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Write-Host "[INFO] Created activation scripts" -ForegroundColor Green
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# -----------------------------------------------------------------------------
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# Verification
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# -----------------------------------------------------------------------------
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Write-Host ""
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Write-Host "==============================================" -ForegroundColor Cyan
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Write-Host " Installation Complete!" -ForegroundColor Cyan
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Write-Host " Verifying Installation..." -ForegroundColor Cyan
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Write-Host "==============================================" -ForegroundColor Cyan
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Write-Host ""
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Write-Host "Verifying installation..." -ForegroundColor Yellow
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Write-Host ""
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try {
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python -c "import pybullet; print(' PyBullet: OK')"
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} catch {
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$pybulletOk = python -c "import pybullet; print(' PyBullet: OK')" 2>&1
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if ($LASTEXITCODE -eq 0) {
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Write-Host $pybulletOk -ForegroundColor Green
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} else {
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Write-Host " PyBullet: FAILED" -ForegroundColor Red
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}
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try {
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python -c "import PyInstaller; print(' PyInstaller: OK')"
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} catch {
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Write-Host " PyInstaller: FAILED" -ForegroundColor Red
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$numpyOk = python -c "import numpy; print(' NumPy: OK')" 2>&1
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if ($LASTEXITCODE -eq 0) {
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Write-Host $numpyOk -ForegroundColor Green
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} else {
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Write-Host " NumPy: FAILED" -ForegroundColor Red
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}
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try {
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python -c "import PIL; print(' Pillow: OK')"
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} catch {
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Write-Host " Pillow: FAILED" -ForegroundColor Red
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$pillowOk = python -c "from PIL import Image; print(' Pillow: OK')" 2>&1
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if ($LASTEXITCODE -eq 0) {
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Write-Host $pillowOk -ForegroundColor Green
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} else {
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Write-Host " Pillow: FAILED (install with: pip install pillow)" -ForegroundColor Yellow
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}
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Write-Host ""
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Write-Host "==============================================" -ForegroundColor Cyan
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Write-Host " IMPORTANT: Activate the environment first!" -ForegroundColor Cyan
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Write-Host " Installation Complete!" -ForegroundColor Cyan
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Write-Host "==============================================" -ForegroundColor Cyan
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Write-Host ""
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Write-Host "Before running any scripts, activate the environment:" -ForegroundColor Yellow
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Write-Host " CMD: $activateBat" -ForegroundColor White
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Write-Host " PowerShell: . $activatePs1" -ForegroundColor White
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Write-Host "Quick start:" -ForegroundColor Yellow
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Write-Host " . .\activate.ps1" -ForegroundColor White
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Write-Host " python standalone_simulation.py" -ForegroundColor White
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Write-Host ""
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Write-Host "Then run the simulation:" -ForegroundColor Yellow
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Write-Host " python simulation_host.py" -ForegroundColor White
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Write-Host " python ros_bridge.py" -ForegroundColor White
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Write-Host " python controllers.py" -ForegroundColor White
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Write-Host "With moving rover:" -ForegroundColor Yellow
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Write-Host " python standalone_simulation.py --pattern circular --speed 0.3" -ForegroundColor White
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Write-Host ""
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Write-Host "Note: ROS 2 and Gazebo are not supported on Windows." -ForegroundColor Gray
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Write-Host " standalone_simulation.py provides the complete experience." -ForegroundColor Gray
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Write-Host ""
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Reference in New Issue
Block a user