enhance installation guides, add environment setup, and expand troubleshooting for all platforms.

README.md

@@ -6,18 +6,20 @@ ArduPilot + ROS 2 + Gazebo (ARG) simulation for landing on a moving platform.
 
 **Terminal 1 - Gazebo:**
 ```bash
+source activate.sh
 ./scripts/run_ardupilot_sim.sh runway
 ```
 
 **Terminal 2 - Controller:**
 ```bash
+source activate.sh
 ./scripts/run_ardupilot_controller.sh
 ```
 
 ## World Options
 
 ```bash
-./scripts/run_ardupilot_sim.sh runway     # Default
+./scripts/run_ardupilot_sim.sh runway     # Default (outdoor)
 ./scripts/run_ardupilot_sim.sh warehouse  # Indoor
 ./scripts/run_ardupilot_sim.sh custom     # Custom landing pad
 ./scripts/run_ardupilot_sim.sh my_world   # gazebo/worlds/my_world.sdf
@@ -25,12 +27,32 @@ ArduPilot + ROS 2 + Gazebo (ARG) simulation for landing on a moving platform.
 
 ## Installation
 
+### Ubuntu (Native or WSL2)
+
 ```bash
 ./setup/install_ubuntu.sh
 ./setup/install_ardupilot.sh
 source ~/.bashrc
 ```
 
+### Windows (via WSL2)
+
+```powershell
+# PowerShell as Administrator
+wsl --install -d Ubuntu-24.04
+# Restart, then in Ubuntu terminal:
+./setup/install_ubuntu.sh --with-ardupilot
+```
+
+### macOS
+
+```bash
+./setup/install_macos.sh
+python standalone_simulation.py  # Gazebo not supported
+```
+
+See [Installation Guide](docs/installation.md) for detailed platform instructions.
+
 ## Project Structure
 
 ```
@@ -56,11 +78,44 @@ simulation/
 | COMMAND | Send commands to rover |
 | LAND | Land on rover |
 
+## Environment Setup
+
+Always activate the environment before running:
+
+```bash
+source activate.sh
+```
+
+This sets up:
+- ROS 2 environment
+- ArduPilot venv (with empy, pymavlink, etc.)
+- Gazebo resource paths
+- ArduPilot tools path
+
+## Troubleshooting
+
+**sim_vehicle.py not found:**
+```bash
+source ~/.ardupilot_env
+```
+
+**empy not found:**
+```bash
+source ~/venv-ardupilot/bin/activate
+pip install empy==3.3.4
+```
+
+**Gazebo slow (software rendering):**
+```bash
+glxinfo | grep "OpenGL renderer"
+# Should show GPU, not "llvmpipe"
+```
+
 ## Documentation
 
-- [Installation](docs/installation.md)
-- [ArduPilot Guide](docs/ardupilot.md)
-- [Drone Controller](docs/drone_guide.md)
-- [Custom Worlds](docs/gazebo_worlds.md)
-- [Blender Models](docs/blender_models.md)
-- [Architecture](docs/architecture.md)
+- [Installation](docs/installation.md) - Full setup for all platforms + WSL
+- [ArduPilot Guide](docs/ardupilot.md) - SITL setup and troubleshooting
+- [Drone Controller](docs/drone_guide.md) - Landing algorithm
+- [Custom Worlds](docs/gazebo_worlds.md) - Create Gazebo environments
+- [Blender Models](docs/blender_models.md) - 3D model workflow
+- [Architecture](docs/architecture.md) - System design