Install Scripts Update

docs/installation.md

@@ -222,6 +222,23 @@ nvidia-smi
 # PyBullet will use hardware rendering automatically
 ```
 
+**Install Gazebo (optional):**
+
+If you want to use Gazebo simulation:
+```bash
+# Install ros-gz bridge
+sudo apt install ros-humble-ros-gz
+
+# Install Gazebo Fortress (provides 'ign' command)
+sudo apt install gz-fortress
+
+# Verify - one of these should work:
+gz sim --version      # Newer Gazebo
+ign gazebo --version  # Fortress (ROS 2 Humble)
+```
+
+**Note:** ROS 2 Humble uses Gazebo Fortress, which uses `ign gazebo` command instead of `gz sim`. The launch file auto-detects which command is available.
+
 **Troubleshooting WSL GUI:**
 
 If GUI doesn't work:

gazebo/launch/drone_landing.launch.py

@@ -2,9 +2,11 @@
 """
 Gazebo Launch File - Drone Landing Simulation
 Launches Gazebo with the world and spawns the drone.
+Supports both 'gz' (newer) and 'ign' (Fortress) commands.
 """
 
 import os
+import shutil
 from ament_index_python.packages import get_package_share_directory
 from launch import LaunchDescription
 from launch.actions import DeclareLaunchArgument, ExecuteProcess, IncludeLaunchDescription
@@ -14,6 +16,17 @@ from launch.substitutions import LaunchConfiguration, PathJoinSubstitution
 from launch_ros.actions import Node
 
 
+def get_gazebo_command():
+    """Determine whether to use 'gz' or 'ign' command."""
+    if shutil.which('gz'):
+        return 'gz'
+    elif shutil.which('ign'):
+        return 'ign'
+    else:
+        # Default to gz, will fail with helpful error
+        return 'gz'
+
+
 def generate_launch_description():
     """Generate the launch description."""
     
@@ -25,12 +38,38 @@ def generate_launch_description():
     drone_model = os.path.join(model_path, 'drone', 'model.sdf')
     
     gz_resource_path = os.environ.get('GZ_SIM_RESOURCE_PATH', '')
-    if model_path not in gz_resource_path:
-        os.environ['GZ_SIM_RESOURCE_PATH'] = f"{model_path}:{gz_resource_path}"
+    ign_resource_path = os.environ.get('IGN_GAZEBO_RESOURCE_PATH', '')
+    combined_path = f"{model_path}:{gz_resource_path}:{ign_resource_path}"
+    
+    os.environ['GZ_SIM_RESOURCE_PATH'] = combined_path
+    os.environ['IGN_GAZEBO_RESOURCE_PATH'] = combined_path
     
     use_sim_time = LaunchConfiguration('use_sim_time', default='true')
     headless = LaunchConfiguration('headless', default='false')
     
+    # Detect which Gazebo command is available
+    gz_cmd = get_gazebo_command()
+    
+    # For ign command, use 'gazebo' subcommand; for gz, use 'sim'
+    if gz_cmd == 'ign':
+        sim_cmd = [gz_cmd, 'gazebo', '-r', world_file]
+        spawn_cmd = [
+            gz_cmd, 'service', '-s', '/world/drone_landing_world/create',
+            '--reqtype', 'ignition.msgs.EntityFactory',
+            '--reptype', 'ignition.msgs.Boolean',
+            '--timeout', '5000',
+            '--req', f'sdf_filename: "{drone_model}", name: "drone"'
+        ]
+    else:
+        sim_cmd = [gz_cmd, 'sim', '-r', world_file]
+        spawn_cmd = [
+            gz_cmd, 'service', '-s', '/world/drone_landing_world/create',
+            '--reqtype', 'gz.msgs.EntityFactory',
+            '--reptype', 'gz.msgs.Boolean',
+            '--timeout', '5000',
+            '--req', f'sdf_filename: "{drone_model}", name: "drone"'
+        ]
+    
     return LaunchDescription([
         DeclareLaunchArgument(
             'use_sim_time',
@@ -44,19 +83,16 @@ def generate_launch_description():
         ),
         
         ExecuteProcess(
-            cmd=['gz', 'sim', '-r', world_file],
+            cmd=sim_cmd,
             output='screen',
-            additional_env={'GZ_SIM_RESOURCE_PATH': os.environ.get('GZ_SIM_RESOURCE_PATH', '')}
+            additional_env={
+                'GZ_SIM_RESOURCE_PATH': combined_path,
+                'IGN_GAZEBO_RESOURCE_PATH': combined_path
+            }
         ),
         
         ExecuteProcess(
-            cmd=[
-                'gz', 'service', '-s', '/world/drone_landing_world/create',
-                '--reqtype', 'gz.msgs.EntityFactory',
-                '--reptype', 'gz.msgs.Boolean',
-                '--timeout', '5000',
-                '--req', f'sdf_filename: "{drone_model}", name: "drone"'
-            ],
+            cmd=spawn_cmd,
             output='screen'
         ),
         
@@ -77,8 +113,18 @@ def generate_launch_description():
 
 
 if __name__ == '__main__':
-    print("This is a ROS 2 launch file. Run with:")
-    print("  ros2 launch <package_name> drone_landing.launch.py")
-    print("")
-    print("Or use the standalone script:")
-    print("  python3 gazebo_bridge.py")
+    print("This is a ROS 2 launch file.")
+    print()
+    print("Usage:")
+    print("  ros2 launch gazebo/launch/drone_landing.launch.py")
+    print()
+    print("Or start Gazebo manually:")
+    
+    gz_cmd = get_gazebo_command()
+    if gz_cmd == 'ign':
+        print("  ign gazebo gazebo/worlds/drone_landing.sdf")
+    else:
+        print("  gz sim gazebo/worlds/drone_landing.sdf")
+    
+    print()
+    print("Then run: python run_gazebo.py")

setup/install_arch.sh

@@ -167,12 +167,22 @@ echo "With moving rover:"
 echo "  python standalone_simulation.py --pattern circular --speed 0.3"
 echo ""
 echo "=============================================="
-echo "  Optional: Install ROS 2 from AUR"
+echo "  Optional: Install ROS 2 + Gazebo from AUR"
 echo "=============================================="
 echo ""
 echo "If you need ROS 2 for the full simulation mode:"
+echo ""
+echo "  # Install ROS 2 Humble"
 echo "  yay -S ros-humble-desktop"
+echo ""
+echo "  # Install Gazebo bridge"
 echo "  yay -S ros-humble-ros-gz"
 echo ""
-echo "Then use simulation_host.py + ros_bridge.py + controllers.py"
+echo "  # Install Gazebo Fortress (provides 'ign' command)"
+echo "  yay -S ignition-fortress"
 echo ""
+echo "After installing, use:"
+echo "  ign gazebo gazebo/worlds/drone_landing.sdf  # Terminal 1"
+echo "  python run_gazebo.py --pattern circular     # Terminal 2"
+echo ""
+

setup/install_macos.sh

@@ -136,3 +136,14 @@ echo ""
 echo "With moving rover:"
 echo "  python standalone_simulation.py --pattern circular --speed 0.3"
 echo ""
+echo "=============================================="
+echo "  Want ROS 2 + Gazebo?"
+echo "=============================================="
+echo ""
+echo "ROS 2 and Gazebo are not supported on macOS."
+echo "For the full experience, use a Linux VM or Docker:"
+echo "  - UTM (Apple Silicon): https://mac.getutm.app"
+echo "  - Docker Desktop: docker run -it ubuntu:22.04"
+echo "  - Then run: ./setup/install_ubuntu.sh"
+echo ""
+

setup/install_ubuntu.sh

@@ -94,15 +94,33 @@ echo "[STEP 4/8] Installing Gazebo..."
 
 if [ "$ROS_DISTRO" = "jazzy" ]; then
     GZ_VERSION="harmonic"
+    GZ_PKG="gz-harmonic"
 else
     GZ_VERSION="fortress"
+    GZ_PKG="gz-fortress"
 fi
 
+# Install ros-gz bridge
 sudo apt-get install -y ros-${ROS_DISTRO}-ros-gz || {
-    echo "[WARN] Could not install ros-gz, Gazebo simulation will not be available"
-    echo "[INFO] PyBullet simulation will still work"
+    echo "[WARN] Could not install ros-gz"
 }
 
+# Install Gazebo itself (provides gz or ign command)
+sudo apt-get install -y $GZ_PKG || {
+    echo "[WARN] Could not install $GZ_PKG"
+    echo "[INFO] Trying ros-ign-gazebo..."
+    sudo apt-get install -y ros-${ROS_DISTRO}-ros-ign-gazebo || true
+}
+
+# Verify installation
+if command -v gz &> /dev/null; then
+    echo "[INFO] Gazebo installed (gz command available)"
+elif command -v ign &> /dev/null; then
+    echo "[INFO] Gazebo Fortress installed (ign command available)"
+else
+    echo "[WARN] Gazebo command not found - use PyBullet instead"
+fi
+
 echo "[INFO] Gazebo installation complete"
 
 # -----------------------------------------------------------------------------

setup/install_windows.ps1

@@ -221,6 +221,12 @@ Write-Host ""
 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 "=============================================="  -ForegroundColor Cyan
+Write-Host "  Want ROS 2 + Gazebo? Use WSL2" -ForegroundColor Cyan
+Write-Host "=============================================="  -ForegroundColor Cyan
+Write-Host ""
+Write-Host "For the full experience with ROS 2 and Gazebo:" -ForegroundColor Gray
+Write-Host "  1. Install WSL2: wsl --install -d Ubuntu-22.04" -ForegroundColor White
+Write-Host "  2. Open Ubuntu and run: ./setup/install_ubuntu.sh" -ForegroundColor White
+Write-Host "  3. See docs/installation.md for details" -ForegroundColor White
 Write-Host ""