# Installation Guide

## Quick Install

```bash
# Ubuntu/Debian
./setup/install_ubuntu.sh
source activate.sh

# Test
python standalone_simulation.py
```

## Install 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` |

## Platform Support

| Mode | Ubuntu | macOS | Windows |
|------|--------|-------|---------|
| Standalone | ✅ | ✅ | ✅ |
| Gazebo + ROS 2 | ✅ | ❌ | WSL2 |
| ArduPilot SITL | ✅ | ❌ | WSL2 |

---

## Ubuntu/Debian

```bash
./setup/install_ubuntu.sh
source activate.sh
python standalone_simulation.py
```

**Installs:**
- ROS 2 Humble/Jazzy
- Gazebo
- Python packages (pybullet, numpy, 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`)

**Run (2 terminals):**

Terminal 1:
```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
```

---

## Windows (WSL2)

1. Install WSL2:
```powershell
wsl --install -d Ubuntu-22.04
```

2. Open Ubuntu and run:
```bash
./setup/install_ubuntu.sh
source activate.sh
python standalone_simulation.py
```

---

## 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
python3 -m venv venv
source venv/bin/activate
pip install -r requirements.txt
python standalone_simulation.py
```

---

## Verification

```bash
python -c "import pybullet; print('PyBullet OK')"
python -c "import cv2; print('OpenCV OK')"
python -c "from pymavlink import mavutil; print('pymavlink OK')"
```

---

## 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
```

### microxrceddsgen 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
```