# Installation Guide

## System Requirements

| Requirement | Minimum | Recommended |
|-------------|---------|-------------|
| **OS** | Ubuntu 22.04 | Ubuntu 24.04 |
| **RAM** | 8 GB | 16 GB |
| **Disk** | 10 GB | 20 GB |
| **GPU** | OpenGL 3.3 | NVIDIA/AMD dedicated |

> **Windows users**: Use WSL2 with Ubuntu (see below)

## Quick Install (Ubuntu/WSL2)

```bash
# Clone repository
git clone <repo-url> ~/RDC_Simulation
cd ~/RDC_Simulation

# Run full installer (includes ArduPilot)
./setup/install_ubuntu.sh --with-ardupilot

# Reload shell
source ~/.bashrc
```

This installs:
- ✅ Python 3 + virtual environment
- ✅ Gazebo Harmonic
- ✅ ArduPilot SITL
- ✅ ArduPilot Gazebo plugin
- ✅ MAVProxy

## Windows (WSL2)

### Step 1: Install WSL2

Open PowerShell as Administrator:
```powershell
wsl --install -d Ubuntu-24.04
```

Restart your computer, then open "Ubuntu" from the Start menu.

### Step 2: Install in WSL

```bash
# Update system
sudo apt update && sudo apt upgrade -y

# Clone and install
git clone <repo-url> ~/RDC_Simulation
cd ~/RDC_Simulation
./setup/install_ubuntu.sh --with-ardupilot

# Reload shell
source ~/.bashrc
```

### WSL2 Tips

- **GUI**: Windows 11 has WSLg built-in. Gazebo should work automatically.
- **GPU**: Install [NVIDIA WSL driver](https://developer.nvidia.com/cuda/wsl) for GPU acceleration
- **Performance**: Keep files in Linux filesystem (`~/`), not Windows (`/mnt/c/`)
- **Memory**: WSL may need more RAM. Create `~/.wslconfig` in Windows:
  ```ini
  [wsl2]
  memory=8GB
  ```

## Arch Linux

```bash
./setup/install_arch.sh --with-ardupilot
source ~/.bashrc
```

## macOS

macOS doesn't support Gazebo Harmonic. Options:

1. **Docker**: Run Linux in container
2. **VM**: Use UTM/Parallels with Ubuntu
3. **Basic**: PyBullet-only simulation

```bash
./setup/install_macos.sh
```

## Verify Installation

```bash
# Check ArduPilot environment
source ~/.ardupilot_env
python -c "import em; print('empy: OK')"
which sim_vehicle.py

# Check Gazebo
gz sim --version

# Check ArduPilot plugin
ls ~/ardupilot_gazebo/build/libArduPilotPlugin.so
```

## First Run

### Terminal 1 - Gazebo
```bash
cd ~/RDC_Simulation
./scripts/run_ardupilot_sim.sh runway
```
Wait for the drone to appear!

### Terminal 2 - SITL
```bash
source ~/.ardupilot_env
sim_vehicle.py -v ArduCopter -f gazebo-iris --model JSON --console
```
Wait for "JSON received:" messages.

### Terminal 3 - Controller
```bash
cd ~/RDC_Simulation
source activate.sh
python scripts/run_ardupilot.py --pattern square
```

## Troubleshooting

### "empy not found"

```bash
source ~/.ardupilot_env
pip install empy==3.3.4
```

### "sim_vehicle.py not found"

```bash
source ~/.ardupilot_env
# Or add to PATH manually:
export PATH=$PATH:~/ardupilot/Tools/autotest
```

### "No JSON sensor message"

SITL isn't receiving data from Gazebo.
- Start Gazebo FIRST
- Wait for world to fully load
- Then start SITL

### Gazebo crashes or slow

```bash
# Check GPU
glxinfo | grep "OpenGL renderer"

# Force software rendering (slow but works)
export LIBGL_ALWAYS_SOFTWARE=1
```

### WSL: Display not working

```bash
# Check WSLg
ls /mnt/wslg

# Update WSL if missing
wsl --update
```

### ArduPlane instead of ArduCopter

If mode list shows FBWA, FBWB (plane modes):
```bash
pkill -9 -f sim_vehicle
sim_vehicle.py -v ArduCopter -f gazebo-iris --model JSON --console --wipe-eeprom
```