Docs Update

docs/installation.md

@@ -3,21 +3,17 @@
 ## Quick Install
 
 ```bash
-# Ubuntu/Debian
 ./setup/install_ubuntu.sh
 source activate.sh
-
-# Test
 python standalone_simulation.py
 ```
 
-## Install Scripts
+## Scripts
 
 | Platform | Command |
 |----------|---------|
 | Ubuntu/Debian | `./setup/install_ubuntu.sh` |
 | ArduPilot SITL | `./setup/install_ardupilot.sh` |
-| Arch Linux | `./setup/install_arch.sh` |
 | macOS | `./setup/install_macos.sh` |
 | Windows | `.\setup\install_windows.ps1` |
 
@@ -26,8 +22,8 @@ python standalone_simulation.py
 | Mode | Ubuntu | macOS | Windows |
 |------|--------|-------|---------|
 | Standalone | ✅ | ✅ | ✅ |
-| Gazebo + ROS 2 | ✅ | ❌ | WSL2 |
-| ArduPilot SITL | ✅ | ❌ | WSL2 |
+| Gazebo | ✅ | ❌ | WSL2 |
+| ArduPilot | ✅ | ❌ | WSL2 |
 
 ---
 
@@ -36,74 +32,46 @@ python standalone_simulation.py
 ```bash
 ./setup/install_ubuntu.sh
 source activate.sh
-python standalone_simulation.py
 ```
 
-**Installs:**
-- ROS 2 Humble/Jazzy
-- Gazebo
-- Python packages (pybullet, numpy, opencv, pymavlink)
+Installs: ROS 2, Gazebo, PyBullet, OpenCV, pymavlink
 
 ---
 
 ## ArduPilot SITL
 
-For realistic flight controller simulation:
-
 ```bash
 ./setup/install_ardupilot.sh
 source ~/.bashrc
 ```
 
-**Installs:**
-- Micro-XRCE-DDS-Gen (required for DDS)
-- ArduPilot SITL
-- ardupilot_gz (Gazebo integration)
-- MAVProxy (`~/.local/bin/mavproxy.py`)
+Installs: ArduPilot SITL, ardupilot_gazebo, MAVProxy
 
-**Run (2 terminals):**
-
-Terminal 1:
+**Run:**
 ```bash
-source ~/ardu_ws/install/setup.bash
-ros2 launch ardupilot_gz_bringup iris_runway.launch.py
-```
-
-Terminal 2:
-```bash
-mavproxy.py --console --map --master=:14550
+./scripts/run_ardupilot_sim.sh camera
 ```
 
 ---
 
-## Windows (WSL2)
+## GPU Support
 
-1. Install WSL2:
-```powershell
-wsl --install -d Ubuntu-22.04
-```
+The simulation auto-detects GPU:
 
-2. Open Ubuntu and run:
+| Priority | GPU Type | Notes |
+|----------|----------|-------|
+| 1 | NVIDIA | Best performance |
+| 2 | Intel integrated | Good for laptops |
+| 3 | AMD | Good performance |
+| 4 | Software (llvmpipe) | Slow fallback |
+
+Check your GPU:
 ```bash
-./setup/install_ubuntu.sh
-source activate.sh
-python standalone_simulation.py
+glxinfo | grep "OpenGL renderer"
 ```
 
 ---
 
-## macOS
-
-```bash
-./setup/install_macos.sh
-source activate.sh
-python standalone_simulation.py
-```
-
-**Note:** ROS 2 and Gazebo not supported. Use standalone mode.
-
----
-
 ## Manual Install
 
 ```bash
@@ -115,49 +83,28 @@ python standalone_simulation.py
 
 ---
 
-## Verification
+## Troubleshooting
+
+### Simulation is laggy
 
 ```bash
-python -c "import pybullet; print('PyBullet OK')"
-python -c "import cv2; print('OpenCV OK')"
-python -c "from pymavlink import mavutil; print('pymavlink OK')"
+# Check GPU (should NOT show "llvmpipe")
+glxinfo | grep "OpenGL renderer"
+
+# Install GPU drivers
+sudo apt install mesa-utils  # Intel/AMD
+sudo apt install nvidia-driver-535  # NVIDIA
 ```
 
----
-
-## Troubleshooting
-
 ### MAVProxy not found
 
 ```bash
-# Install
 pip3 install --user mavproxy
-
-# Add to PATH
-echo 'export PATH=$PATH:~/.local/bin' >> ~/.bashrc
-source ~/.bashrc
-
-# Verify
-which mavproxy.py
+export PATH=$PATH:~/.local/bin
 ```
 
-### microxrceddsgen not found
+### sim_vehicle.py not found
 
 ```bash
-# Install (needed for ArduPilot DDS)
-git clone --recurse-submodules https://github.com/eProsima/Micro-XRCE-DDS-Gen.git ~/Micro-XRCE-DDS-Gen
-cd ~/Micro-XRCE-DDS-Gen
-./gradlew assemble
-
-# Add to PATH
-echo 'export PATH=$PATH:~/Micro-XRCE-DDS-Gen/scripts' >> ~/.bashrc
-source ~/.bashrc
-```
-
-### Build errors
-
-```bash
-# Rebuild with override flag
-cd ~/ardu_ws
-colcon build --packages-up-to ardupilot_gz_bringup --allow-overriding ros_gz_bridge ros_gz_sim sdformat_urdf
+export PATH=$PATH:~/ardupilot/Tools/autotest
 ```