# Installation

## Quick Install (Ubuntu/WSL)

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

## What Gets Installed

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

## Platform-Specific Installation

### Ubuntu (Native)

```bash
./setup/install_ubuntu.sh --with-ardupilot
```

### Windows (via WSL2)

WSL2 (Windows Subsystem for Linux) is the recommended way to run this simulation on Windows.

#### Step 1: Install WSL2

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

Restart your computer when prompted.

#### Step 2: Configure WSL2 for GUI Apps

WSL2 on Windows 11 has built-in GUI support (WSLg). For Windows 10, you may need an X server:

```powershell
# Windows 11 - WSLg is automatic, no extra setup needed

# Windows 10 - Install VcXsrv or X410 from Microsoft Store
```

#### Step 3: Install in WSL

Open Ubuntu from Start menu:
```bash
# Clone the project (or copy from Windows)
git clone https://github.com/your-repo/RDC_Simulation.git
cd RDC_Simulation

# Run installation
./setup/install_ubuntu.sh
./setup/install_ardupilot.sh
source ~/.bashrc
```

#### Step 4: GPU Acceleration in WSL

For best performance with Gazebo:

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

# Should show your GPU, not "llvmpipe"
# If using NVIDIA, install NVIDIA GPU driver for WSL:
# https://developer.nvidia.com/cuda/wsl
```

#### WSL Tips

- **Access Windows files:** `/mnt/c/Users/YourName/`
- **Open file explorer:** `explorer.exe .`
- **Copy to clipboard:** `cat file | clip.exe`
- **Memory limit:** Create `%UserProfile%\.wslconfig`:
  ```ini
  [wsl2]
  memory=8GB
  processors=4
  ```

### macOS

Gazebo is not officially supported on macOS. Use standalone mode:

```bash
./setup/install_macos.sh
python standalone_simulation.py
```

For full simulation, use a Linux VM (UTM for Apple Silicon) or Docker.

### Arch Linux

```bash
./setup/install_arch.sh
```

ROS 2 and Gazebo are available via AUR - see script output for details.

## Dependencies

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

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

## Verify Installation

```bash
# Source the environment
source activate.sh

# Check ArduPilot tools
sim_vehicle.py --help
which mavproxy.py

# Check Gazebo
gz sim --help
```

## Environment Setup

After installation, always source the environment before running:

```bash
source activate.sh
# or
source ~/.bashrc  # if ArduPilot was installed
```

The activation script sets up:
- ROS 2 environment
- ArduPilot Python venv (with empy, pymavlink, etc.)
- Gazebo resource paths
- ArduPilot tools path

## Troubleshooting

### "empy not found" or waf configure fails

The ArduPilot venv isn't activated. Run:
```bash
source ~/venv-ardupilot/bin/activate
pip install empy==3.3.4
```

### sim_vehicle.py not found

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

### mavproxy.py not found

```bash
export PATH=$PATH:~/.local/bin
```

### pexpect error

```bash
pip install pexpect
```

### Gazebo slow / Software rendering

```bash
glxinfo | grep "OpenGL renderer"
```

Should show your GPU, not "llvmpipe". Install proper GPU drivers:

- **NVIDIA:** `sudo apt install nvidia-driver-XXX`
- **AMD:** `sudo apt install mesa-vulkan-drivers`
- **Intel:** Usually works out of box
- **WSL:** Install NVIDIA WSL driver from nvidia.com

### Wrong Python environment

If you see errors about missing packages that should be installed:

```bash
# Check which Python is being used
which python3

# Should be: ~/venv-ardupilot/bin/python3
# If not, activate the correct venv:
source ~/venv-ardupilot/bin/activate
```

### WSL: Display not working

```bash
# Check DISPLAY variable
echo $DISPLAY

# For WSLg (Windows 11), should be auto-set
# For Windows 10 with X server:
export DISPLAY=:0
```

### WSL: Out of memory

Create `%UserProfile%\.wslconfig`:
```ini
[wsl2]
memory=8GB
swap=4GB
```

Then restart WSL: `wsl --shutdown`