enhance installation guides, add environment setup, and expand troubleshooting for all platforms.
This commit is contained in:
@@ -1,13 +1,23 @@
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# ArduPilot + Gazebo Simulation
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## Prerequisites
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Before running, ensure your environment is set up:
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```bash
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source activate.sh
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# or
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source ~/.ardupilot_env && source ~/venv-ardupilot/bin/activate
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```
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## Quick Start (2 Terminals)
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**Terminal 1:**
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**Terminal 1 - Start Gazebo:**
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```bash
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./scripts/run_ardupilot_sim.sh runway
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```
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**Terminal 2:**
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**Terminal 2 - Start Controller:**
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```bash
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./scripts/run_ardupilot_controller.sh
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```
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@@ -21,33 +31,41 @@
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└─────────────────┘ └─────────────────┘ └─────────────────┘
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```
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**Communication:**
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- Gazebo ↔ SITL: JSON sensor data over UDP (port 9002)
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- SITL ↔ Your Code: MAVLink over TCP (port 5760)
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## World Options
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```bash
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./scripts/run_ardupilot_sim.sh runway # Default
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./scripts/run_ardupilot_sim.sh warehouse # Indoor
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./scripts/run_ardupilot_sim.sh zephyr # Fixed-wing
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./scripts/run_ardupilot_sim.sh runway # Default (outdoor runway)
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./scripts/run_ardupilot_sim.sh warehouse # Indoor warehouse
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./scripts/run_ardupilot_sim.sh gimbal # With camera gimbal
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./scripts/run_ardupilot_sim.sh zephyr # Fixed-wing aircraft
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./scripts/run_ardupilot_sim.sh custom # Your custom world
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./scripts/run_ardupilot_sim.sh my_world # gazebo/worlds/my_world.sdf
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```
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## GPS-Denied Mode
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The simulation runs in GPS-denied mode by default.
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The simulation runs in GPS-denied mode by default. The controller disables GPS checks and uses visual navigation.
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For manual debugging with MAVProxy:
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```bash
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sim_vehicle.py -v ArduCopter -f gazebo-iris --model JSON --console
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# In MAVProxy:
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# In MAVProxy console:
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param set ARMING_CHECK 0
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mode stabilize
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arm throttle force
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rc 3 1500 # Throttle up
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```
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## Controller Options
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```bash
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./scripts/run_ardupilot_controller.sh # Auto takeoff
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./scripts/run_ardupilot_controller.sh --no-takeoff # Manual
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./scripts/run_ardupilot_controller.sh --no-takeoff # Manual control
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./scripts/run_ardupilot_controller.sh -a 10 # 10m altitude
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```
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@@ -55,18 +73,130 @@ arm throttle force
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| File | Purpose |
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|------|---------|
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| `scripts/run_ardupilot_sim.sh` | Gazebo + GPU detection |
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| `scripts/run_ardupilot_controller.sh` | SITL + Controller |
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| `scripts/run_ardupilot.py` | MAVLink interface |
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| `src/drone_controller.py` | Your algorithm |
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| `scripts/run_ardupilot_sim.sh` | Gazebo launcher with GPU detection |
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| `scripts/run_ardupilot_controller.sh` | SITL + Controller launcher |
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| `scripts/run_ardupilot.py` | MAVLink interface script |
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| `src/drone_controller.py` | Your landing algorithm |
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## Environment Variables
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The scripts automatically set these, but for manual runs:
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```bash
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# ArduPilot tools
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export PATH=$PATH:~/ardupilot/Tools/autotest
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# ArduPilot venv (has empy, pymavlink, etc.)
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source ~/venv-ardupilot/bin/activate
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# Gazebo plugin paths
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export GZ_SIM_SYSTEM_PLUGIN_PATH=~/ardupilot_gazebo/build:$GZ_SIM_SYSTEM_PLUGIN_PATH
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export GZ_SIM_RESOURCE_PATH=~/ardupilot_gazebo/models:~/ardupilot_gazebo/worlds:$GZ_SIM_RESOURCE_PATH
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```
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## Troubleshooting
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### "No JSON sensor message"
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Start Gazebo (Terminal 1) before the controller.
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### "No JSON sensor message" or "No heartbeat"
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### Drone doesn't respond
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Check mode is GUIDED in MAVProxy.
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**Cause:** Gazebo isn't running or ArduPilot plugin isn't loaded.
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### Simulation laggy
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Check GPU: `glxinfo | grep "OpenGL renderer"`
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**Fix:**
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1. Start Gazebo first (Terminal 1)
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2. Wait for world to fully load
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3. Then start controller (Terminal 2)
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### "sim_vehicle.py not found"
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**Cause:** ArduPilot tools not in PATH.
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**Fix:**
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```bash
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source ~/.ardupilot_env
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# or
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export PATH=$PATH:~/ardupilot/Tools/autotest
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```
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### "empy not found" during waf build
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**Cause:** Wrong Python environment.
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**Fix:**
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```bash
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source ~/venv-ardupilot/bin/activate
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pip install empy==3.3.4
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cd ~/ardupilot
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./waf configure --board sitl
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./waf copter
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```
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### Drone doesn't respond to commands
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**Possible causes:**
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1. Not in GUIDED mode - check MAVProxy: `mode`
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2. Not armed - run: `arm throttle force`
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3. Pre-arm checks failing - run: `param set ARMING_CHECK 0`
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### Drone immediately crashes in Gazebo
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**Cause:** Usually a physics/plugin issue.
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**Fix:**
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```bash
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# Rebuild the ArduPilot Gazebo plugin
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cd ~/ardupilot_gazebo/build
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cmake .. -DCMAKE_BUILD_TYPE=Release
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make -j4
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```
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### Simulation is laggy
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**Cause:** Software rendering or GPU not detected.
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**Check:**
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```bash
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glxinfo | grep "OpenGL renderer"
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```
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Should show your GPU name, not "llvmpipe" or "software".
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**Fix for WSL:**
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- Install NVIDIA drivers for WSL: https://developer.nvidia.com/cuda/wsl
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- Ensure WSLg is enabled (Windows 11)
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### MAVProxy console not opening
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**Cause:** Missing `--console` flag or display issues.
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**Fix:**
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```bash
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# Run directly
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sim_vehicle.py -v ArduCopter -f gazebo-iris --model JSON --console --map
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# If display errors:
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export DISPLAY=:0 # Linux/WSL with X server
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```
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## Advanced: Custom Takeoff
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To customize the takeoff behavior, edit `scripts/run_ardupilot.py`:
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```python
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# Change altitude
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TAKEOFF_ALTITUDE = 15 # meters
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# Change timeout
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CONNECTION_TIMEOUT = 60 # seconds
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```
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## Logs
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ArduPilot logs are saved to:
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```
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~/ardupilot/logs/
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~/ardupilot/build/sitl/logs/
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```
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View with:
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```bash
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mavlogdump.py --types GPS,ATT ~/ardupilot/logs/LASTLOG.BIN
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```
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@@ -1,6 +1,6 @@
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# Installation
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## Quick Install
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## Quick Install (Ubuntu/WSL)
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```bash
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./setup/install_ubuntu.sh
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@@ -13,11 +13,101 @@ source ~/.bashrc
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| Component | Location |
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|-----------|----------|
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| ArduPilot SITL | `~/ardupilot` |
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| ArduPilot venv | `~/venv-ardupilot` |
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| ardupilot_gazebo | `~/ardupilot_gazebo` |
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| Gazebo Harmonic | System |
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| ROS 2 | System |
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| MAVProxy | `~/.local/bin` |
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## Platform-Specific Installation
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### Ubuntu (Native)
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```bash
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./setup/install_ubuntu.sh --with-ardupilot
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```
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### Windows (via WSL2)
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WSL2 (Windows Subsystem for Linux) is the recommended way to run this simulation on Windows.
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#### Step 1: Install WSL2
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Open PowerShell as Administrator:
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```powershell
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wsl --install -d Ubuntu-24.04
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```
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Restart your computer when prompted.
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#### Step 2: Configure WSL2 for GUI Apps
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WSL2 on Windows 11 has built-in GUI support (WSLg). For Windows 10, you may need an X server:
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```powershell
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# Windows 11 - WSLg is automatic, no extra setup needed
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# Windows 10 - Install VcXsrv or X410 from Microsoft Store
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```
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#### Step 3: Install in WSL
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Open Ubuntu from Start menu:
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```bash
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# Clone the project (or copy from Windows)
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git clone https://github.com/your-repo/RDC_Simulation.git
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cd RDC_Simulation
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# Run installation
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./setup/install_ubuntu.sh
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./setup/install_ardupilot.sh
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source ~/.bashrc
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```
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#### Step 4: GPU Acceleration in WSL
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For best performance with Gazebo:
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```bash
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# Check GPU availability
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glxinfo | grep "OpenGL renderer"
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# Should show your GPU, not "llvmpipe"
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# If using NVIDIA, install NVIDIA GPU driver for WSL:
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# https://developer.nvidia.com/cuda/wsl
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```
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#### WSL Tips
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- **Access Windows files:** `/mnt/c/Users/YourName/`
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- **Open file explorer:** `explorer.exe .`
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- **Copy to clipboard:** `cat file | clip.exe`
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- **Memory limit:** Create `%UserProfile%\.wslconfig`:
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```ini
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[wsl2]
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memory=8GB
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processors=4
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```
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### macOS
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Gazebo is not officially supported on macOS. Use standalone mode:
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```bash
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./setup/install_macos.sh
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python standalone_simulation.py
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```
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For full simulation, use a Linux VM (UTM for Apple Silicon) or Docker.
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### Arch Linux
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```bash
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./setup/install_arch.sh
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```
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ROS 2 and Gazebo are available via AUR - see script output for details.
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## Dependencies
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```bash
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@@ -34,29 +124,107 @@ pip install -r requirements.txt
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## Verify Installation
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```bash
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# Source the environment
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source activate.sh
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# Check ArduPilot tools
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sim_vehicle.py --help
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which mavproxy.py
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# Check Gazebo
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gz sim --help
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```
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## Environment Setup
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After installation, always source the environment before running:
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```bash
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source activate.sh
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# or
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source ~/.bashrc # if ArduPilot was installed
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```
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The activation script sets up:
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- ROS 2 environment
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- ArduPilot Python venv (with empy, pymavlink, etc.)
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- Gazebo resource paths
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- ArduPilot tools path
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## Troubleshooting
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### sim_vehicle.py not found
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### "empy not found" or waf configure fails
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The ArduPilot venv isn't activated. Run:
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```bash
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source ~/venv-ardupilot/bin/activate
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pip install empy==3.3.4
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```
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### sim_vehicle.py not found
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```bash
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source ~/.ardupilot_env
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# or
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export PATH=$PATH:~/ardupilot/Tools/autotest
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```
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### mavproxy.py not found
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```bash
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export PATH=$PATH:~/.local/bin
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```
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### pexpect error
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```bash
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pip install pexpect
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```
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### Gazebo slow
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### Gazebo slow / Software rendering
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```bash
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glxinfo | grep "OpenGL renderer"
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```
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Should show GPU, not "llvmpipe".
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Should show your GPU, not "llvmpipe". Install proper GPU drivers:
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- **NVIDIA:** `sudo apt install nvidia-driver-XXX`
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- **AMD:** `sudo apt install mesa-vulkan-drivers`
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- **Intel:** Usually works out of box
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- **WSL:** Install NVIDIA WSL driver from nvidia.com
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### Wrong Python environment
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If you see errors about missing packages that should be installed:
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```bash
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# Check which Python is being used
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which python3
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# Should be: ~/venv-ardupilot/bin/python3
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# If not, activate the correct venv:
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source ~/venv-ardupilot/bin/activate
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```
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### WSL: Display not working
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```bash
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# Check DISPLAY variable
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echo $DISPLAY
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# For WSLg (Windows 11), should be auto-set
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# For Windows 10 with X server:
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export DISPLAY=:0
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```
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### WSL: Out of memory
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Create `%UserProfile%\.wslconfig`:
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```ini
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[wsl2]
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memory=8GB
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swap=4GB
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```
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Then restart WSL: `wsl --shutdown`
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Reference in New Issue
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