253 lines
10 KiB
PowerShell
253 lines
10 KiB
PowerShell
# =============================================================================
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# Drone Simulation - Windows Installation Script (PowerShell)
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# =============================================================================
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# Installs PyBullet and Python dependencies
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# ROS 2 is optional (complex setup, not required for standalone mode)
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#
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# Usage:
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# 1. Open PowerShell as Administrator
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# 2. Run: Set-ExecutionPolicy RemoteSigned -Scope CurrentUser
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# 3. Run: .\install_windows.ps1
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# =============================================================================
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Write-Host "==============================================" -ForegroundColor Cyan
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Write-Host " Drone Simulation - Windows Installation" -ForegroundColor Cyan
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Write-Host "==============================================" -ForegroundColor Cyan
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Write-Host ""
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# Get script and project paths
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$ScriptDir = Split-Path -Parent $MyInvocation.MyCommand.Path
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$ProjectRoot = Split-Path -Parent $ScriptDir
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$VenvDir = Join-Path $ProjectRoot "venv"
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Write-Host "[INFO] Project root: $ProjectRoot" -ForegroundColor Gray
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Write-Host "[INFO] Virtual environment: $VenvDir" -ForegroundColor Gray
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# Check for Administrator privileges
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$isAdmin = ([Security.Principal.WindowsPrincipal] [Security.Principal.WindowsIdentity]::GetCurrent()).IsInRole([Security.Principal.WindowsBuiltInRole]::Administrator)
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if (-not $isAdmin) {
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Write-Host "[WARN] Not running as Administrator. Some installations may fail." -ForegroundColor Yellow
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Write-Host ""
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}
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# Function to refresh environment PATH
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function Refresh-Path {
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$env:Path = [System.Environment]::GetEnvironmentVariable("Path","Machine") + ";" + [System.Environment]::GetEnvironmentVariable("Path","User")
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$chocoPath = "$env:ProgramData\chocolatey\bin"
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if (Test-Path $chocoPath) {
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$env:Path = "$chocoPath;$env:Path"
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}
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}
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# -----------------------------------------------------------------------------
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# Step 1: Install Chocolatey (Package Manager)
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# -----------------------------------------------------------------------------
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Write-Host "[STEP 1/5] Checking Chocolatey..." -ForegroundColor Green
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$chocoInstalled = $false
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try {
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$chocoVersion = choco --version 2>$null
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if ($chocoVersion) {
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$chocoInstalled = $true
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Write-Host "[INFO] Chocolatey already installed" -ForegroundColor Green
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}
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} catch {
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$chocoInstalled = $false
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}
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if (-not $chocoInstalled) {
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Write-Host "[INFO] Installing Chocolatey..." -ForegroundColor Yellow
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try {
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Set-ExecutionPolicy Bypass -Scope Process -Force
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[System.Net.ServicePointManager]::SecurityProtocol = [System.Net.ServicePointManager]::SecurityProtocol -bor 3072
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Invoke-Expression ((New-Object System.Net.WebClient).DownloadString('https://community.chocolatey.org/install.ps1'))
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Refresh-Path
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Write-Host "[INFO] Chocolatey installed" -ForegroundColor Green
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} catch {
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Write-Host "[WARN] Chocolatey installation failed, continuing..." -ForegroundColor Yellow
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}
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}
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# -----------------------------------------------------------------------------
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# Step 2: Install Python
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# -----------------------------------------------------------------------------
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Write-Host ""
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Write-Host "[STEP 2/5] Checking Python..." -ForegroundColor Green
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$pythonInstalled = $false
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try {
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$pythonVersion = python --version 2>$null
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if ($pythonVersion -match "Python 3") {
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$pythonInstalled = $true
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Write-Host "[INFO] Python already installed ($pythonVersion)" -ForegroundColor Green
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}
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} catch {
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$pythonInstalled = $false
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}
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if (-not $pythonInstalled) {
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Write-Host "[INFO] Installing Python 3.11..." -ForegroundColor Yellow
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$chocoExe = "$env:ProgramData\chocolatey\bin\choco.exe"
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if (Test-Path $chocoExe) {
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& $chocoExe install python311 -y
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} else {
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Write-Host "[ERROR] Please install Python 3.11 manually from https://python.org" -ForegroundColor Red
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exit 1
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}
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Refresh-Path
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}
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# -----------------------------------------------------------------------------
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# Step 3: Create Python Virtual Environment
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# -----------------------------------------------------------------------------
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Write-Host ""
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Write-Host "[STEP 3/5] Creating Python virtual environment..." -ForegroundColor Green
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if (Test-Path $VenvDir) {
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Remove-Item -Recurse -Force $VenvDir
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}
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python -m venv $VenvDir
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Write-Host "[INFO] Virtual environment created" -ForegroundColor Green
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# -----------------------------------------------------------------------------
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# Step 4: Install Python Dependencies
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# -----------------------------------------------------------------------------
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Write-Host ""
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Write-Host "[STEP 4/5] Installing Python dependencies..." -ForegroundColor Green
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& "$VenvDir\Scripts\Activate.ps1"
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python -m pip install --upgrade pip
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$requirementsFile = Join-Path $ProjectRoot "requirements.txt"
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if (Test-Path $requirementsFile) {
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Write-Host "[INFO] Installing from requirements.txt..." -ForegroundColor Gray
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pip install -r $requirementsFile
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} else {
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Write-Host "[INFO] Installing packages manually..." -ForegroundColor Gray
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pip install pybullet
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pip install numpy
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pip install pillow
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pip install pyinstaller
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}
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Write-Host "[INFO] Python packages installed" -ForegroundColor Green
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# -----------------------------------------------------------------------------
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# Step 5: Create Activation Scripts
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# -----------------------------------------------------------------------------
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Write-Host ""
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Write-Host "[STEP 5/5] Creating activation scripts..." -ForegroundColor Green
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# Create batch file for cmd.exe
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$activateBat = Join-Path $ProjectRoot "activate.bat"
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@"
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@echo off
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REM Drone Simulation - Environment Activation (Windows CMD)
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REM Note: Full ArduPilot simulation requires WSL2 (Linux)
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call "%~dp0venv\Scripts\activate.bat"
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echo.
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echo [OK] Python environment ready!
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echo.
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echo Note: ArduPilot SITL requires WSL2. See docs/installation.md
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echo.
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"@ | Out-File -FilePath $activateBat -Encoding ASCII
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# Create PowerShell script
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$activatePs1 = Join-Path $ProjectRoot "activate.ps1"
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@"
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# Drone Simulation - Environment Activation (Windows PowerShell)
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# Note: Full ArduPilot simulation requires WSL2 (Linux)
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# Usage: . .\activate.ps1
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`$ScriptDir = Split-Path -Parent `$MyInvocation.MyCommand.Path
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# Activate Python virtual environment
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& "`$ScriptDir\venv\Scripts\Activate.ps1"
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Write-Host ""
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Write-Host "[OK] Python environment ready!" -ForegroundColor Green
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Write-Host ""
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Write-Host "Note: ArduPilot SITL requires WSL2. See docs/installation.md" -ForegroundColor Yellow
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Write-Host ""
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"@ | Out-File -FilePath $activatePs1 -Encoding UTF8
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Write-Host "[INFO] Created activation scripts" -ForegroundColor Green
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# -----------------------------------------------------------------------------
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# Verification
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# -----------------------------------------------------------------------------
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Write-Host ""
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Write-Host "==============================================" -ForegroundColor Cyan
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Write-Host " Verifying Installation..." -ForegroundColor Cyan
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Write-Host "==============================================" -ForegroundColor Cyan
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Write-Host ""
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$pybulletOk = python -c "import pybullet; print(' PyBullet: OK')" 2>&1
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if ($LASTEXITCODE -eq 0) {
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Write-Host $pybulletOk -ForegroundColor Green
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} else {
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Write-Host " PyBullet: FAILED" -ForegroundColor Red
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}
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$numpyOk = python -c "import numpy; print(' NumPy: OK')" 2>&1
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if ($LASTEXITCODE -eq 0) {
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Write-Host $numpyOk -ForegroundColor Green
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} else {
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Write-Host " NumPy: FAILED" -ForegroundColor Red
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}
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$pillowOk = python -c "from PIL import Image; print(' Pillow: OK')" 2>&1
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if ($LASTEXITCODE -eq 0) {
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Write-Host $pillowOk -ForegroundColor Green
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} else {
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Write-Host " Pillow: FAILED (install with: pip install pillow)" -ForegroundColor Yellow
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}
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Write-Host ""
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Write-Host "==============================================" -ForegroundColor Cyan
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Write-Host " Installation Complete!" -ForegroundColor Cyan
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Write-Host "==============================================" -ForegroundColor Cyan
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Write-Host ""
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Write-Host "Note: ArduPilot SITL simulation requires WSL2 (Linux)." -ForegroundColor Yellow
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Write-Host ""
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Write-Host "======================================================" -ForegroundColor Cyan
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Write-Host " Full Simulation: Use WSL2 (Linux)" -ForegroundColor Cyan
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Write-Host "======================================================" -ForegroundColor Cyan
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Write-Host ""
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Write-Host "ArduPilot + Gazebo simulation requires Linux:" -ForegroundColor Gray
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Write-Host ""
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Write-Host "Step 1: Install WSL2" -ForegroundColor Yellow
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Write-Host " wsl --install -d Ubuntu-24.04" -ForegroundColor White
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Write-Host " # Restart your computer when prompted" -ForegroundColor DarkGray
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Write-Host ""
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Write-Host "Step 2: Open Ubuntu and install" -ForegroundColor Yellow
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Write-Host " cd /mnt/c/path/to/RDC_Simulation" -ForegroundColor White
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Write-Host " ./setup/install_ubuntu.sh" -ForegroundColor White
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Write-Host " source ~/.bashrc" -ForegroundColor White
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Write-Host ""
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Write-Host "Step 3: Run simulation (3 terminals)" -ForegroundColor Yellow
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Write-Host " Terminal 1: ./scripts/run_ardupilot_sim.sh runway" -ForegroundColor White
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Write-Host " Terminal 2: sim_vehicle.py -v ArduCopter -f gazebo-iris --model JSON --console" -ForegroundColor White
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Write-Host " Terminal 3: python scripts/run_ardupilot.py --pattern square" -ForegroundColor White
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Write-Host ""
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Write-Host "GPU Acceleration in WSL:" -ForegroundColor Yellow
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Write-Host " - Windows 11: WSLg auto-enabled (no setup needed)" -ForegroundColor DarkGray
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Write-Host " - NVIDIA GPU: Install WSL driver from nvidia.com/cuda/wsl" -ForegroundColor DarkGray
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Write-Host " - Check: glxinfo | grep 'OpenGL renderer'" -ForegroundColor DarkGray
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Write-Host ""
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Write-Host "WSL Tips:" -ForegroundColor Yellow
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Write-Host " - Access Windows files: /mnt/c/Users/YourName/" -ForegroundColor DarkGray
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Write-Host " - Open folder in Explorer: explorer.exe ." -ForegroundColor DarkGray
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Write-Host " - Increase memory: Create %UserProfile%\.wslconfig" -ForegroundColor DarkGray
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Write-Host ""
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Write-Host "See docs/installation.md for detailed instructions." -ForegroundColor Gray
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Write-Host ""
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