256 lines
8.4 KiB
Bash
Executable File
256 lines
8.4 KiB
Bash
Executable File
#!/bin/bash
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# =============================================================================
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# Drone Simulation - Arch Linux Installation Script
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# =============================================================================
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# Installs PyBullet and Python dependencies
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# ROS 2 requires AUR (optional - not needed for standalone mode)
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# ArduPilot SITL can be built from source (optional)
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#
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# Usage: ./install_arch.sh
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# =============================================================================
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set -e
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echo "=============================================="
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echo " Drone Simulation - Arch Linux 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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# -----------------------------------------------------------------------------
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# Step 1: System Dependencies
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# -----------------------------------------------------------------------------
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echo ""
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echo "[STEP 1/5] Installing system dependencies..."
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sudo pacman -Syu --noconfirm
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sudo pacman -S --needed --noconfirm \
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python \
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python-pip \
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python-virtualenv \
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base-devel \
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git \
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curl \
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mesa \
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libglvnd
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echo "[INFO] System dependencies installed"
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# -----------------------------------------------------------------------------
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# Step 2: Install AUR Helper (yay) - Optional for ROS 2
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# -----------------------------------------------------------------------------
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echo ""
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echo "[STEP 2/5] Checking AUR helper..."
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if command -v yay &> /dev/null; then
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echo "[INFO] yay already installed"
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HAS_YAY=true
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else
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echo "[INFO] Installing yay (AUR helper)..."
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cd /tmp
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if [ -d "yay" ]; then
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rm -rf yay
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fi
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git clone https://aur.archlinux.org/yay.git
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cd yay
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makepkg -si --noconfirm
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cd "$PROJECT_ROOT"
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HAS_YAY=true
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echo "[INFO] yay installed"
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fi
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# -----------------------------------------------------------------------------
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# Step 3: Create Python Virtual Environment
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# -----------------------------------------------------------------------------
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echo ""
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echo "[STEP 3/5] 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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python -m venv "$VENV_DIR"
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echo "[INFO] Virtual environment created at: $VENV_DIR"
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# -----------------------------------------------------------------------------
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# Step 4: Install Python Dependencies
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# -----------------------------------------------------------------------------
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echo ""
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echo "[STEP 4/5] Installing Python dependencies..."
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source "$VENV_DIR/bin/activate"
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pip install --upgrade pip
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if [ -f "$PROJECT_ROOT/requirements.txt" ]; then
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echo "[INFO] Installing from requirements.txt..."
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pip install -r "$PROJECT_ROOT/requirements.txt"
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else
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echo "[INFO] Installing packages manually..."
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pip install pybullet numpy pillow pyinstaller
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fi
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echo "[INFO] Python packages installed"
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# -----------------------------------------------------------------------------
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# Step 5: Create Activation Script
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# -----------------------------------------------------------------------------
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echo ""
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echo "[STEP 5/5] Creating activation script..."
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cat > "$PROJECT_ROOT/activate.sh" << 'EOF'
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#!/bin/bash
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# RDC Simulation - Environment Activation
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# Usage: source activate.sh
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SCRIPT_DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" && pwd)"
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# =============================================================================
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# 1. ROS 2 Setup
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# =============================================================================
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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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else
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echo "[WARN] ROS 2 installation not found in /opt/ros/"
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fi
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# =============================================================================
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# 2. ArduPilot Environment
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# =============================================================================
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export ARDUPILOT_HOME="$HOME/ardupilot"
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# Add ArduPilot tools to PATH
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# We prepend to ensure we use our versions
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export PATH="$ARDUPILOT_HOME/Tools/autotest:$PATH"
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export PATH="$ARDUPILOT_HOME/Tools/scripts:$PATH"
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export PATH="$HOME/.local/bin:$PATH"
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# =============================================================================
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# 3. Python Virtual Environment
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# =============================================================================
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# Deactivate any existing venv to avoid conflicts
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if [ -n "$VIRTUAL_ENV" ]; then
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deactivate 2>/dev/null || true
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fi
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# Activate project 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 active"
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else
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echo "[WARN] Python venv not found at $SCRIPT_DIR/venv"
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fi
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# =============================================================================
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# 4. Gazebo & Simulation Paths
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# =============================================================================
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# Add project models to Gazebo path
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export GZ_SIM_RESOURCE_PATH="$SCRIPT_DIR/gazebo/models:$GZ_SIM_RESOURCE_PATH"
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# ArduPilot Gazebo Plugin paths
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if [ -d "$HOME/ardupilot_gazebo/build" ]; then
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export GZ_SIM_SYSTEM_PLUGIN_PATH="$HOME/ardupilot_gazebo/build:$GZ_SIM_SYSTEM_PLUGIN_PATH"
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export GZ_SIM_RESOURCE_PATH="$HOME/ardupilot_gazebo/models:$HOME/ardupilot_gazebo/worlds:$GZ_SIM_RESOURCE_PATH"
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else
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echo "[WARN] ArduPilot Gazebo plugin not found at $HOME/ardupilot_gazebo"
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fi
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echo ""
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echo "Environment Configured!"
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echo "-----------------------"
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echo "Project Root: $SCRIPT_DIR"
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echo "ArduPilot Home: $ARDUPILOT_HOME"
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echo "-----------------------"
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EOF
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chmod +x "$PROJECT_ROOT/activate.sh"
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echo "[OK] Created: $PROJECT_ROOT/activate.sh"
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# -----------------------------------------------------------------------------
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# Verification
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# -----------------------------------------------------------------------------
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echo ""
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echo "Verifying installation..."
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source "$PROJECT_ROOT/activate.sh"
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echo ""
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echo "Checking Python packages:"
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python -c "import pybullet; print(' PyBullet: OK')" || echo " PyBullet: FAILED"
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python -c "import numpy; print(' NumPy: OK')" || echo " NumPy: FAILED"
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python -c "from PIL import Image; print(' Pillow: OK')" || echo " Pillow: FAILED"
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python -c "from pymavlink import mavutil; print(' pymavlink: OK')" || echo " pymavlink: FAILED"
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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 (3 terminals):"
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echo ""
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echo "Terminal 1 - Start Gazebo:"
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echo " cd ~/RDC_Simulation"
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echo " ./scripts/run_ardupilot_sim.sh runway"
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echo ""
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echo "Terminal 2 - Start ArduCopter SITL:"
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echo " source ~/.ardupilot_env"
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echo " sim_vehicle.py -v ArduCopter -f gazebo-iris --model JSON --console"
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echo ""
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echo "Terminal 3 - Run Controller:"
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echo " cd ~/RDC_Simulation"
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echo " source activate.sh"
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echo " python scripts/run_ardupilot.py --pattern square"
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echo ""
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echo "=============================================="
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echo " Optional: Install ROS 2 + Gazebo from AUR"
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echo "=============================================="
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echo ""
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echo "If you need ROS 2 for additional features:"
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echo ""
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echo " # Install ROS 2 Humble"
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echo " yay -S ros-humble-desktop"
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echo ""
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echo " # Install Gazebo bridge"
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echo " yay -S ros-humble-ros-gz"
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echo ""
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echo " # Install Gazebo Harmonic"
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echo " yay -S gz-harmonic"
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echo ""
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echo ""
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echo "=============================================="
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echo " Optional: Install ArduPilot SITL"
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echo "=============================================="
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echo ""
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echo "For realistic flight controller simulation:"
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echo ""
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echo " # Clone and build ArduPilot"
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echo " git clone --recurse-submodules https://github.com/ArduPilot/ardupilot.git ~/ardupilot"
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echo " cd ~/ardupilot"
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echo " pip install -r Tools/environment_install/requirements.txt"
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echo ""
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echo " # Clone and build ArduPilot Gazebo plugin"
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echo " git clone https://github.com/ArduPilot/ardupilot_gazebo.git ~/ardupilot_gazebo"
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echo " cd ~/ardupilot_gazebo && mkdir build && cd build"
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echo " cmake .. && make -j\$(nproc)"
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echo ""
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echo " # Add to environment"
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echo " export ARDUPILOT_HOME=~/ardupilot"
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echo " export PATH=\$PATH:\$ARDUPILOT_HOME/Tools/autotest"
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echo " export GZ_SIM_SYSTEM_PLUGIN_PATH=~/ardupilot_gazebo/build:\$GZ_SIM_SYSTEM_PLUGIN_PATH"
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echo ""
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echo "Then run the 3-terminal setup as described above."
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echo ""
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