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

docs/installation.md

@@ -1,6 +1,6 @@
 # Installation
 
-## Quick Install
+## Quick Install (Ubuntu/WSL)
 
 ```bash
 ./setup/install_ubuntu.sh
@@ -13,11 +13,101 @@ source ~/.bashrc
 | Component | Location |
 |-----------|----------|
 | ArduPilot SITL | `~/ardupilot` |
+| ArduPilot venv | `~/venv-ardupilot` |
 | ardupilot_gazebo | `~/ardupilot_gazebo` |
 | Gazebo Harmonic | System |
 | ROS 2 | System |
 | MAVProxy | `~/.local/bin` |
 
+## Platform-Specific Installation
+
+### Ubuntu (Native)
+
+```bash
+./setup/install_ubuntu.sh --with-ardupilot
+```
+
+### Windows (via WSL2)
+
+WSL2 (Windows Subsystem for Linux) is the recommended way to run this simulation on Windows.
+
+#### Step 1: Install WSL2
+
+Open PowerShell as Administrator:
+```powershell
+wsl --install -d Ubuntu-24.04
+```
+
+Restart your computer when prompted.
+
+#### Step 2: Configure WSL2 for GUI Apps
+
+WSL2 on Windows 11 has built-in GUI support (WSLg). For Windows 10, you may need an X server:
+
+```powershell
+# Windows 11 - WSLg is automatic, no extra setup needed
+
+# Windows 10 - Install VcXsrv or X410 from Microsoft Store
+```
+
+#### Step 3: Install in WSL
+
+Open Ubuntu from Start menu:
+```bash
+# Clone the project (or copy from Windows)
+git clone https://github.com/your-repo/RDC_Simulation.git
+cd RDC_Simulation
+
+# Run installation
+./setup/install_ubuntu.sh
+./setup/install_ardupilot.sh
+source ~/.bashrc
+```
+
+#### Step 4: GPU Acceleration in WSL
+
+For best performance with Gazebo:
+
+```bash
+# Check GPU availability
+glxinfo | grep "OpenGL renderer"
+
+# Should show your GPU, not "llvmpipe"
+# If using NVIDIA, install NVIDIA GPU driver for WSL:
+# https://developer.nvidia.com/cuda/wsl
+```
+
+#### WSL Tips
+
+- **Access Windows files:** `/mnt/c/Users/YourName/`
+- **Open file explorer:** `explorer.exe .`
+- **Copy to clipboard:** `cat file | clip.exe`
+- **Memory limit:** Create `%UserProfile%\.wslconfig`:
+  ```ini
+  [wsl2]
+  memory=8GB
+  processors=4
+  ```
+
+### macOS
+
+Gazebo is not officially supported on macOS. Use standalone mode:
+
+```bash
+./setup/install_macos.sh
+python standalone_simulation.py
+```
+
+For full simulation, use a Linux VM (UTM for Apple Silicon) or Docker.
+
+### Arch Linux
+
+```bash
+./setup/install_arch.sh
+```
+
+ROS 2 and Gazebo are available via AUR - see script output for details.
+
 ## Dependencies
 
 ```bash
@@ -34,29 +124,107 @@ pip install -r requirements.txt
 ## Verify Installation
 
 ```bash
+# Source the environment
+source activate.sh
+
+# Check ArduPilot tools
 sim_vehicle.py --help
+which mavproxy.py
+
+# Check Gazebo
 gz sim --help
 ```
 
+## Environment Setup
+
+After installation, always source the environment before running:
+
+```bash
+source activate.sh
+# or
+source ~/.bashrc  # if ArduPilot was installed
+```
+
+The activation script sets up:
+- ROS 2 environment
+- ArduPilot Python venv (with empy, pymavlink, etc.)
+- Gazebo resource paths
+- ArduPilot tools path
+
 ## Troubleshooting
 
-### sim_vehicle.py not found
+### "empy not found" or waf configure fails
+
+The ArduPilot venv isn't activated. Run:
 ```bash
+source ~/venv-ardupilot/bin/activate
+pip install empy==3.3.4
+```
+
+### sim_vehicle.py not found
+
+```bash
+source ~/.ardupilot_env
+# or
 export PATH=$PATH:~/ardupilot/Tools/autotest
 ```
 
 ### mavproxy.py not found
+
 ```bash
 export PATH=$PATH:~/.local/bin
 ```
 
 ### pexpect error
+
 ```bash
 pip install pexpect
 ```
 
-### Gazebo slow
+### Gazebo slow / Software rendering
+
 ```bash
 glxinfo | grep "OpenGL renderer"
 ```
-Should show GPU, not "llvmpipe".
+
+Should show your GPU, not "llvmpipe". Install proper GPU drivers:
+
+- **NVIDIA:** `sudo apt install nvidia-driver-XXX`
+- **AMD:** `sudo apt install mesa-vulkan-drivers`
+- **Intel:** Usually works out of box
+- **WSL:** Install NVIDIA WSL driver from nvidia.com
+
+### Wrong Python environment
+
+If you see errors about missing packages that should be installed:
+
+```bash
+# Check which Python is being used
+which python3
+
+# Should be: ~/venv-ardupilot/bin/python3
+# If not, activate the correct venv:
+source ~/venv-ardupilot/bin/activate
+```
+
+### WSL: Display not working
+
+```bash
+# Check DISPLAY variable
+echo $DISPLAY
+
+# For WSLg (Windows 11), should be auto-set
+# For Windows 10 with X server:
+export DISPLAY=:0
+```
+
+### WSL: Out of memory
+
+Create `%UserProfile%\.wslconfig`:
+```ini
+[wsl2]
+memory=8GB
+swap=4GB
+```
+
+Then restart WSL: `wsl --shutdown`