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

setup/install_arch.sh

@@ -123,8 +123,18 @@ else
     echo "[INFO] ROS 2 not found - standalone mode available"
 fi
 
-# Activate Python venv
-if [ -f "$SCRIPT_DIR/venv/bin/activate" ]; then
+# Source ArduPilot environment (if installed)
+if [ -f "$HOME/.ardupilot_env" ]; then
+    source "$HOME/.ardupilot_env"
+    echo "[OK] ArduPilot environment"
+fi
+
+# Activate ArduPilot venv (has empy and other dependencies)
+if [ -f "$HOME/venv-ardupilot/bin/activate" ]; then
+    source "$HOME/venv-ardupilot/bin/activate"
+    echo "[OK] ArduPilot venv"
+# Fallback to project venv
+elif [ -f "$SCRIPT_DIR/venv/bin/activate" ]; then
     source "$SCRIPT_DIR/venv/bin/activate"
     echo "[OK] Python venv activated"
 fi
@@ -132,6 +142,16 @@ fi
 # Set Gazebo model path if available
 export GZ_SIM_RESOURCE_PATH="$SCRIPT_DIR/gazebo/models:$GZ_SIM_RESOURCE_PATH"
 
+# Add paths for ArduPilot tools
+export PATH="$PATH:$HOME/.local/bin"
+export PATH="$PATH:$HOME/ardupilot/Tools/autotest"
+
+# ArduPilot Gazebo plugin
+if [ -d "$HOME/ardupilot_gazebo/build" ]; then
+    export GZ_SIM_SYSTEM_PLUGIN_PATH="$HOME/ardupilot_gazebo/build:$GZ_SIM_SYSTEM_PLUGIN_PATH"
+    export GZ_SIM_RESOURCE_PATH="$HOME/ardupilot_gazebo/models:$HOME/ardupilot_gazebo/worlds:$GZ_SIM_RESOURCE_PATH"
+fi
+
 echo ""
 echo "Environment ready! Run:"
 echo "  python standalone_simulation.py"

setup/install_ubuntu.sh

@@ -177,8 +177,18 @@ elif [ -f "/opt/ros/humble/setup.bash" ]; then
     echo "[OK] ROS 2 humble"
 fi
 
-# Activate Python venv
-if [ -f "$SCRIPT_DIR/venv/bin/activate" ]; then
+# Source ArduPilot environment (if installed)
+if [ -f "$HOME/.ardupilot_env" ]; then
+    source "$HOME/.ardupilot_env"
+    echo "[OK] ArduPilot environment"
+fi
+
+# Activate ArduPilot venv (has empy and other dependencies)
+if [ -f "$HOME/venv-ardupilot/bin/activate" ]; then
+    source "$HOME/venv-ardupilot/bin/activate"
+    echo "[OK] ArduPilot venv"
+# Fallback to project venv
+elif [ -f "$SCRIPT_DIR/venv/bin/activate" ]; then
     source "$SCRIPT_DIR/venv/bin/activate"
     echo "[OK] Python venv"
 fi
@@ -186,13 +196,14 @@ fi
 # Set Gazebo paths
 export GZ_SIM_RESOURCE_PATH="$SCRIPT_DIR/gazebo/models:$GZ_SIM_RESOURCE_PATH"
 
-# Add ~/.local/bin to PATH (for mavproxy.py)
+# Add paths for ArduPilot tools and MAVProxy
 export PATH="$PATH:$HOME/.local/bin"
+export PATH="$PATH:$HOME/ardupilot/Tools/autotest"
 
-# ArduPilot workspace
-if [ -f "$HOME/ardu_ws/install/setup.bash" ]; then
-    source "$HOME/ardu_ws/install/setup.bash"
-    echo "[OK] ArduPilot workspace"
+# ArduPilot Gazebo plugin
+if [ -d "$HOME/ardupilot_gazebo/build" ]; then
+    export GZ_SIM_SYSTEM_PLUGIN_PATH="$HOME/ardupilot_gazebo/build:$GZ_SIM_SYSTEM_PLUGIN_PATH"
+    export GZ_SIM_RESOURCE_PATH="$HOME/ardupilot_gazebo/models:$HOME/ardupilot_gazebo/worlds:$GZ_SIM_RESOURCE_PATH"
 fi
 
 echo ""

setup/install_windows.ps1

@@ -221,12 +221,34 @@ 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 "=============================================="  -ForegroundColor Cyan
-Write-Host "  Want ROS 2 + Gazebo? Use WSL2" -ForegroundColor Cyan
-Write-Host "=============================================="  -ForegroundColor Cyan
+Write-Host "======================================================" -ForegroundColor Cyan
+Write-Host "  Want ROS 2 + Gazebo + ArduPilot? 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 "For the full simulation with Gazebo and ArduPilot:" -ForegroundColor Gray
+Write-Host ""
+Write-Host "Step 1: Install WSL2" -ForegroundColor Yellow
+Write-Host "  wsl --install -d Ubuntu-24.04" -ForegroundColor White
+Write-Host "  # Restart your computer when prompted" -ForegroundColor DarkGray
+Write-Host ""
+Write-Host "Step 2: Open Ubuntu and install" -ForegroundColor Yellow
+Write-Host "  cd /mnt/c/path/to/RDC_Simulation" -ForegroundColor White
+Write-Host "  ./setup/install_ubuntu.sh --with-ardupilot" -ForegroundColor White
+Write-Host "  source ~/.bashrc" -ForegroundColor White
+Write-Host ""
+Write-Host "Step 3: Run simulation (2 terminals)" -ForegroundColor Yellow
+Write-Host "  Terminal 1: ./scripts/run_ardupilot_sim.sh runway" -ForegroundColor White
+Write-Host "  Terminal 2: ./scripts/run_ardupilot_controller.sh" -ForegroundColor White
+Write-Host ""
+Write-Host "GPU Acceleration in WSL:" -ForegroundColor Yellow
+Write-Host "  - Windows 11: WSLg auto-enabled (no setup needed)" -ForegroundColor DarkGray
+Write-Host "  - NVIDIA GPU: Install WSL driver from nvidia.com/cuda/wsl" -ForegroundColor DarkGray
+Write-Host "  - Check: glxinfo | grep 'OpenGL renderer'" -ForegroundColor DarkGray
+Write-Host ""
+Write-Host "WSL Tips:" -ForegroundColor Yellow
+Write-Host "  - Access Windows files: /mnt/c/Users/YourName/" -ForegroundColor DarkGray
+Write-Host "  - Open folder in Explorer: explorer.exe ." -ForegroundColor DarkGray
+Write-Host "  - Increase memory: Create %UserProfile%\.wslconfig" -ForegroundColor DarkGray
+Write-Host ""
+Write-Host "See docs/installation.md for detailed instructions." -ForegroundColor Gray
 Write-Host ""