# Installation

## Quick Install

```bash
./setup/install_ubuntu.sh
./setup/install_ardupilot.sh
source ~/.bashrc
```

## What Gets Installed

| Component | Location |
|-----------|----------|
| ArduPilot SITL | `~/ardupilot` |
| ardupilot_gazebo | `~/ardupilot_gazebo` |
| Gazebo Harmonic | System |
| ROS 2 | System |
| MAVProxy | `~/.local/bin` |

## Dependencies

```bash
pip install -r requirements.txt
```

- pybullet
- numpy
- pillow
- opencv-python
- pymavlink
- pexpect

## Verify Installation

```bash
sim_vehicle.py --help
gz sim --help
```

## Troubleshooting

### sim_vehicle.py not found
```bash
export PATH=$PATH:~/ardupilot/Tools/autotest
```

### mavproxy.py not found
```bash
export PATH=$PATH:~/.local/bin
```

### pexpect error
```bash
pip install pexpect
```

### Gazebo slow
```bash
glxinfo | grep "OpenGL renderer"
```
Should show GPU, not "llvmpipe".