180 lines
3.3 KiB
Markdown
180 lines
3.3 KiB
Markdown
# Installation Guide
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## System Requirements
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| Requirement | Minimum | Recommended |
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|-------------|---------|-------------|
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| **OS** | Ubuntu 22.04 | Ubuntu 24.04 |
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| **RAM** | 8 GB | 16 GB |
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| **Disk** | 10 GB | 20 GB |
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| **GPU** | OpenGL 3.3 | NVIDIA/AMD dedicated |
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> **Windows users**: Use WSL2 with Ubuntu (see below)
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## Quick Install (Ubuntu/WSL2)
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```bash
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# Clone repository
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git clone <repo-url> ~/RDC_Simulation
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cd ~/RDC_Simulation
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# Run full installer (includes ArduPilot)
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./setup/install_ubuntu.sh --with-ardupilot
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# Reload shell
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source ~/.bashrc
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```
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This installs:
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- ✅ Python 3 + virtual environment
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- ✅ Gazebo Harmonic
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- ✅ ArduPilot SITL
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- ✅ ArduPilot Gazebo plugin
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- ✅ MAVProxy
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## Windows (WSL2)
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### Step 1: Install WSL2
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Open PowerShell as Administrator:
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```powershell
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wsl --install -d Ubuntu-24.04
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```
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Restart your computer, then open "Ubuntu" from the Start menu.
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### Step 2: Install in WSL
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```bash
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# Update system
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sudo apt update && sudo apt upgrade -y
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# Clone and install
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git clone <repo-url> ~/RDC_Simulation
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cd ~/RDC_Simulation
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./setup/install_ubuntu.sh --with-ardupilot
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# Reload shell
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source ~/.bashrc
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```
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### WSL2 Tips
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- **GUI**: Windows 11 has WSLg built-in. Gazebo should work automatically.
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- **GPU**: Install [NVIDIA WSL driver](https://developer.nvidia.com/cuda/wsl) for GPU acceleration
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- **Performance**: Keep files in Linux filesystem (`~/`), not Windows (`/mnt/c/`)
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- **Memory**: WSL may need more RAM. Create `~/.wslconfig` in Windows:
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```ini
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[wsl2]
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memory=8GB
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```
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## Arch Linux
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```bash
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./setup/install_arch.sh --with-ardupilot
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source ~/.bashrc
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```
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## macOS
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macOS doesn't support Gazebo Harmonic. Options:
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1. **Docker**: Run Linux in container
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2. **VM**: Use UTM/Parallels with Ubuntu
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3. **Basic**: PyBullet-only simulation
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```bash
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./setup/install_macos.sh
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```
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## Verify Installation
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```bash
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# Check ArduPilot environment
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source ~/.ardupilot_env
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python -c "import em; print('empy: OK')"
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which sim_vehicle.py
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# Check Gazebo
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gz sim --version
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# Check ArduPilot plugin
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ls ~/ardupilot_gazebo/build/libArduPilotPlugin.so
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```
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## First Run
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### Terminal 1 - Gazebo
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```bash
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cd ~/RDC_Simulation
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./scripts/run_ardupilot_sim.sh runway
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```
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Wait for the drone to appear!
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### Terminal 2 - SITL
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```bash
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source ~/.ardupilot_env
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sim_vehicle.py -v ArduCopter -f gazebo-iris --model JSON --console
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```
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Wait for "JSON received:" messages.
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### Terminal 3 - Controller
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```bash
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cd ~/RDC_Simulation
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source activate.sh
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python scripts/run_ardupilot.py --pattern square
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```
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## Troubleshooting
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### "empy not found"
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```bash
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source ~/.ardupilot_env
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pip install empy==3.3.4
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```
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### "sim_vehicle.py not found"
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```bash
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source ~/.ardupilot_env
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# Or add to PATH manually:
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export PATH=$PATH:~/ardupilot/Tools/autotest
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```
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### "No JSON sensor message"
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SITL isn't receiving data from Gazebo.
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- Start Gazebo FIRST
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- Wait for world to fully load
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- Then start SITL
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### Gazebo crashes or slow
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```bash
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# Check GPU
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glxinfo | grep "OpenGL renderer"
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# Force software rendering (slow but works)
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export LIBGL_ALWAYS_SOFTWARE=1
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```
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### WSL: Display not working
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```bash
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# Check WSLg
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ls /mnt/wslg
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# Update WSL if missing
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wsl --update
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```
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### ArduPlane instead of ArduCopter
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If mode list shows FBWA, FBWB (plane modes):
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```bash
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pkill -9 -f sim_vehicle
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sim_vehicle.py -v ArduCopter -f gazebo-iris --model JSON --console --wipe-eeprom
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```
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