252 lines
8.0 KiB
Bash
Executable File
252 lines
8.0 KiB
Bash
Executable File
#!/bin/bash
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# =============================================================================
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# Drone Simulation - Ubuntu/Debian Installation Script
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# =============================================================================
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# Installs ROS 2, Gazebo, PyBullet, and all required dependencies
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#
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# Usage:
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# ./install_ubuntu.sh # Basic installation
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# ./install_ubuntu.sh --with-ardupilot # Include ArduPilot SITL
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# =============================================================================
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set -e
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echo "=============================================="
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echo " Drone Simulation - Ubuntu Installation"
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echo "=============================================="
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echo ""
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# Get script directory and project root
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SCRIPT_DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" && pwd)"
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PROJECT_ROOT="$(dirname "$SCRIPT_DIR")"
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VENV_DIR="$PROJECT_ROOT/venv"
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echo "[INFO] Project root: $PROJECT_ROOT"
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echo "[INFO] Virtual environment: $VENV_DIR"
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# Detect Ubuntu version
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if [ -f /etc/os-release ]; then
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. /etc/os-release
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UBUNTU_VERSION=$VERSION_ID
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echo "[INFO] Detected: $NAME $VERSION_ID"
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else
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echo "[WARN] Could not detect Ubuntu version, assuming 22.04"
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UBUNTU_VERSION="22.04"
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fi
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# Check for ArduPilot option
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INSTALL_ARDUPILOT=false
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for arg in "$@"; do
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if [ "$arg" = "--with-ardupilot" ]; then
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INSTALL_ARDUPILOT=true
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fi
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done
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# -----------------------------------------------------------------------------
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# Step 1: System Dependencies
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# -----------------------------------------------------------------------------
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echo ""
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echo "[STEP 1/7] Installing system dependencies..."
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sudo apt-get update
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sudo apt-get install -y \
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curl \
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gnupg \
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lsb-release \
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software-properties-common \
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python3 \
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python3-pip \
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python3-venv \
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git \
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cmake \
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build-essential \
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wget
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echo "[INFO] System dependencies installed"
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# -----------------------------------------------------------------------------
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# Step 2: ROS 2 Repository Setup
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# -----------------------------------------------------------------------------
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echo ""
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echo "[STEP 2/7] Setting up ROS 2 repository..."
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# Add ROS 2 GPG key
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sudo curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -o /usr/share/keyrings/ros-archive-keyring.gpg
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# Determine ROS 2 distro based on Ubuntu version
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if [ "$UBUNTU_VERSION" = "24.04" ]; then
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ROS_DISTRO="jazzy"
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elif [ "$UBUNTU_VERSION" = "22.04" ]; then
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ROS_DISTRO="humble"
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else
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echo "[WARN] Ubuntu $UBUNTU_VERSION not officially supported, trying humble"
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ROS_DISTRO="humble"
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fi
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echo "[INFO] Using ROS 2 $ROS_DISTRO"
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# Add repository
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echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] http://packages.ros.org/ros2/ubuntu $(. /etc/os-release && echo $UBUNTU_CODENAME) main" | sudo tee /etc/apt/sources.list.d/ros2.list > /dev/null
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# -----------------------------------------------------------------------------
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# Step 3: Install ROS 2
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# -----------------------------------------------------------------------------
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echo ""
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echo "[STEP 3/7] Installing ROS 2 $ROS_DISTRO..."
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sudo apt-get update
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sudo apt-get install -y ros-${ROS_DISTRO}-ros-base ros-${ROS_DISTRO}-geometry-msgs ros-${ROS_DISTRO}-std-msgs ros-${ROS_DISTRO}-nav-msgs ros-${ROS_DISTRO}-sensor-msgs
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echo "[INFO] ROS 2 $ROS_DISTRO installed"
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# -----------------------------------------------------------------------------
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# Step 4: Install Gazebo
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# -----------------------------------------------------------------------------
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echo ""
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echo "[STEP 4/7] Installing Gazebo..."
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# Install ros-gz bridge
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sudo apt-get install -y ros-${ROS_DISTRO}-ros-gz || {
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echo "[WARN] Could not install ros-gz"
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}
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# Install Gazebo
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if [ "$ROS_DISTRO" = "jazzy" ]; then
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sudo apt-get install -y gz-harmonic || true
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else
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sudo apt-get install -y gz-fortress || sudo apt-get install -y ros-${ROS_DISTRO}-ros-ign-gazebo || true
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fi
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# Verify installation
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if command -v gz &> /dev/null; then
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echo "[INFO] Gazebo installed (gz command available)"
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elif command -v ign &> /dev/null; then
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echo "[INFO] Gazebo Fortress installed (ign command available)"
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else
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echo "[WARN] Gazebo command not found - use standalone mode"
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fi
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# -----------------------------------------------------------------------------
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# Step 5: Create Python Virtual Environment
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# -----------------------------------------------------------------------------
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echo ""
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echo "[STEP 5/7] Creating Python virtual environment..."
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if [ -d "$VENV_DIR" ]; then
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rm -rf "$VENV_DIR"
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fi
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python3 -m venv "$VENV_DIR"
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echo "[INFO] Virtual environment created at: $VENV_DIR"
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# -----------------------------------------------------------------------------
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# Step 6: Install Python Dependencies
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# -----------------------------------------------------------------------------
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echo ""
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echo "[STEP 6/7] Installing Python dependencies..."
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source "$VENV_DIR/bin/activate"
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pip install --upgrade pip
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if [ -f "$PROJECT_ROOT/requirements.txt" ]; then
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pip install -r "$PROJECT_ROOT/requirements.txt"
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else
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pip install pybullet numpy pillow opencv-python pymavlink pexpect
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fi
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echo "[INFO] Python packages installed"
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# -----------------------------------------------------------------------------
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# Step 7: Create Activation Script
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# -----------------------------------------------------------------------------
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echo ""
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echo "[STEP 7/7] Creating activation script..."
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cat > "$PROJECT_ROOT/activate.sh" << 'EOF'
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#!/bin/bash
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# Drone Simulation - Environment Activation
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SCRIPT_DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" && pwd)"
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# Source ROS 2
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if [ -f "/opt/ros/jazzy/setup.bash" ]; then
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source /opt/ros/jazzy/setup.bash
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echo "[OK] ROS 2 jazzy"
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elif [ -f "/opt/ros/humble/setup.bash" ]; then
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source /opt/ros/humble/setup.bash
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echo "[OK] ROS 2 humble"
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fi
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# Activate Python venv
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if [ -f "$SCRIPT_DIR/venv/bin/activate" ]; then
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source "$SCRIPT_DIR/venv/bin/activate"
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echo "[OK] Python venv"
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fi
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# Set Gazebo paths
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export GZ_SIM_RESOURCE_PATH="$SCRIPT_DIR/gazebo/models:$GZ_SIM_RESOURCE_PATH"
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# Add ~/.local/bin to PATH (for mavproxy.py)
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export PATH="$PATH:$HOME/.local/bin"
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# ArduPilot workspace
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if [ -f "$HOME/ardu_ws/install/setup.bash" ]; then
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source "$HOME/ardu_ws/install/setup.bash"
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echo "[OK] ArduPilot workspace"
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fi
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echo ""
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echo "Ready! Run: python standalone_simulation.py"
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EOF
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chmod +x "$PROJECT_ROOT/activate.sh"
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echo "[INFO] Created: $PROJECT_ROOT/activate.sh"
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# -----------------------------------------------------------------------------
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# Verification
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# -----------------------------------------------------------------------------
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echo ""
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echo "=============================================="
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echo " Verifying Installation"
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echo "=============================================="
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source "$PROJECT_ROOT/activate.sh"
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python3 -c "import pybullet; print('[OK] PyBullet')" || echo "[FAIL] PyBullet"
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python3 -c "import numpy; print('[OK] NumPy')" || echo "[FAIL] NumPy"
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python3 -c "import cv2; print('[OK] OpenCV')" || echo "[WARN] OpenCV not installed"
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python3 -c "from pymavlink import mavutil; print('[OK] pymavlink')" || echo "[WARN] pymavlink not installed"
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# -----------------------------------------------------------------------------
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# ArduPilot Installation (if requested)
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# -----------------------------------------------------------------------------
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if [ "$INSTALL_ARDUPILOT" = true ]; then
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echo ""
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echo "[INFO] Installing ArduPilot SITL..."
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if [ -f "$SCRIPT_DIR/install_ardupilot.sh" ]; then
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bash "$SCRIPT_DIR/install_ardupilot.sh"
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else
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echo "[ERROR] install_ardupilot.sh not found!"
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fi
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fi
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echo ""
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echo "=============================================="
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echo " Installation Complete!"
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echo "=============================================="
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echo ""
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echo "Quick start:"
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echo " source activate.sh"
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echo " python standalone_simulation.py"
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echo ""
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echo "With Gazebo (2 terminals):"
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echo " Terminal 1: ros2 launch gazebo/launch/drone_landing.launch.py"
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echo " Terminal 2: python run_gazebo.py --pattern circular"
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echo ""
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if [ "$INSTALL_ARDUPILOT" != true ]; then
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echo "For ArduPilot SITL:"
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echo " ./setup/install_ardupilot.sh"
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echo ""
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fi
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