# Installation Guide

## System Requirements

- **OS**: Ubuntu 22.04 or 24.04 (Windows users: use WSL2)
- **RAM**: 8GB minimum, 16GB recommended
- **Disk**: 10GB free space
- **GPU**: Any GPU with OpenGL 3.3+ support

## Quick Install (Ubuntu)

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

# Run 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 computer, then open Ubuntu from 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
source ~/.bashrc
```

### WSL2 Tips

- **GUI Apps**: Windows 11 has WSLg built-in. Gazebo should work automatically.
- **GPU**: Install NVIDIA WSL driver from [nvidia.com/wsl](https://developer.nvidia.com/cuda/wsl)
- **Access Windows files**: `/mnt/c/Users/YourName/`
- **Performance**: Clone repo to Linux filesystem (not `/mnt/c/`)

## macOS

macOS doesn't support Gazebo Harmonic natively. Options:

1. **Docker** (recommended): Use Linux container
2. **VM**: Use UTM or Parallels with Ubuntu
3. **Standalone**: Run PyBullet-only simulation

```bash
# Install basic dependencies
./setup/install_macos.sh

# Use standalone simulation
python standalone_simulation.py
```

## Arch Linux

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

## Verify Installation

```bash
# Check ArduPilot
source ~/venv-ardupilot/bin/activate
python -c "import em; print('empy OK')"
sim_vehicle.py --help

# Check Gazebo
gz sim --version
ls ~/ardupilot_gazebo/build/libArduPilotPlugin.so
```

## Post-Installation

### Environment Setup

The installer creates `activate.sh` in the project root:

```bash
cd ~/RDC_Simulation
source activate.sh
```

This sources:
- ROS 2 (if installed)
- ArduPilot virtual environment
- Gazebo paths

### First Run

```bash
# Terminal 1: Start Gazebo
./scripts/run_ardupilot_sim.sh runway

# Terminal 2: Start SITL (after Gazebo loads)
source ~/venv-ardupilot/bin/activate
sim_vehicle.py -v ArduCopter -f gazebo-iris --model JSON --console

# Terminal 3: Run controller
source ~/venv-ardupilot/bin/activate
cd ~/RDC_Simulation
python scripts/run_ardupilot.py --pattern square
```

## Troubleshooting

### "empy not found"

```bash
source ~/venv-ardupilot/bin/activate
pip install empy==3.3.4
```

### "No JSON sensor message"

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

### "sim_vehicle.py not found"

```bash
source ~/.ardupilot_env
# OR
export PATH=$PATH:~/ardupilot/Tools/autotest
```

### Gazebo crashes / slow

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

# Try software rendering (slow but works)
export LIBGL_ALWAYS_SOFTWARE=1
gz sim -v4 -r ~/ardupilot_gazebo/worlds/iris_runway.sdf
```

### WSL: Display not working

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

# If missing, update WSL
wsl --update
```