424 lines
15 KiB
Bash
Executable File
424 lines
15 KiB
Bash
Executable File
#!/bin/bash
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# =============================================================================
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# RDC Simulation - Ubuntu/WSL2 Installation Script
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# =============================================================================
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# Complete installation for GPS-Denied Drone Landing Simulation
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# Installs: ROS 2, Gazebo, ArduPilot SITL, and all dependencies
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#
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# Usage:
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# ./setup/install_ubuntu.sh # Full installation (recommended)
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# ./setup/install_ubuntu.sh --skip-ardupilot # Skip ArduPilot (basic only)
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# =============================================================================
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set -e
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echo "=============================================="
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echo " RDC 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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# ArduPilot directories
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ARDUPILOT_HOME="$HOME/ardupilot"
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ARDUPILOT_GZ="$HOME/ardupilot_gazebo"
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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 $VERSION_ID"
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else
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echo "[WARN] Could not detect Ubuntu version, assuming 22.04"
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UBUNTU_VERSION="22.04"
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fi
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# Check for skip ArduPilot option (default is to install ArduPilot)
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INSTALL_ARDUPILOT=true
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for arg in "$@"; do
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if [ "$arg" = "--skip-ardupilot" ]; then
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INSTALL_ARDUPILOT=false
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fi
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done
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if [ "$INSTALL_ARDUPILOT" = true ]; then
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TOTAL_STEPS=9
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echo "[INFO] Full installation with ArduPilot SITL"
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else
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TOTAL_STEPS=6
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echo "[INFO] Basic installation (no ArduPilot)"
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fi
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echo ""
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# =============================================================================
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# STEP 1: System Dependencies
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# =============================================================================
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echo "[STEP 1/$TOTAL_STEPS] 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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python3-dev \
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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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netcat-openbsd \
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libgstreamer1.0-dev \
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libgstreamer-plugins-base1.0-dev \
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gstreamer1.0-plugins-bad \
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gstreamer1.0-libav \
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gstreamer1.0-gl \
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libopencv-dev
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echo "[OK] System dependencies installed"
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# =============================================================================
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# STEP 2: ROS 2 Installation
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# =============================================================================
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echo ""
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echo "[STEP 2/$TOTAL_STEPS] Installing ROS 2..."
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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 and repository codename based on Ubuntu version
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# ROS 2 only has repositories for specific Ubuntu LTS versions
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# For newer/unsupported versions, we use the closest compatible LTS repository
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if [ "$UBUNTU_VERSION" = "24.04" ]; then
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ROS_DISTRO="jazzy"
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ROS_UBUNTU_CODENAME="noble"
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elif [ "$UBUNTU_VERSION" = "22.04" ]; then
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ROS_DISTRO="humble"
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ROS_UBUNTU_CODENAME="jammy"
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else
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# For Ubuntu versions newer than 24.04, use Jazzy with noble repositories
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# This provides best compatibility for cutting-edge Ubuntu versions
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UBUNTU_MAJOR=$(echo "$UBUNTU_VERSION" | cut -d. -f1)
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if [ "$UBUNTU_MAJOR" -ge 24 ] 2>/dev/null; then
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echo "[WARN] Ubuntu $UBUNTU_VERSION not officially supported by ROS 2"
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echo "[INFO] Using ROS 2 Jazzy with Ubuntu 24.04 (noble) repositories"
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ROS_DISTRO="jazzy"
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ROS_UBUNTU_CODENAME="noble"
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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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ROS_UBUNTU_CODENAME="jammy"
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fi
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fi
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echo "[INFO] Using ROS 2 $ROS_DISTRO (repository: $ROS_UBUNTU_CODENAME)"
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# Add repository using the compatible Ubuntu codename
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echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] http://packages.ros.org/ros2/ubuntu $ROS_UBUNTU_CODENAME main" | sudo tee /etc/apt/sources.list.d/ros2.list > /dev/null
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sudo apt-get update
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sudo apt-get install -y ros-${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 "[ERROR] Failed to install ROS 2 $ROS_DISTRO"
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echo "[INFO] This may be due to library incompatibilities with Ubuntu $UBUNTU_VERSION"
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echo "[INFO] Consider using Ubuntu 22.04 or 24.04 for full ROS 2 support"
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}
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# Install ros-gz bridge
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sudo apt-get install -y ros-${ROS_DISTRO}-ros-gz || {
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echo "[WARN] Could not install ros-gz"
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}
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echo "[OK] ROS 2 $ROS_DISTRO installed"
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# =============================================================================
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# STEP 3: Gazebo Installation
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# =============================================================================
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echo ""
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echo "[STEP 3/$TOTAL_STEPS] Installing Gazebo..."
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# Add Gazebo repository (use compatible Ubuntu codename if needed)
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GZ_UBUNTU_CODENAME="${ROS_UBUNTU_CODENAME:-$(lsb_release -cs)}"
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sudo wget https://packages.osrfoundation.org/gazebo.gpg -O /usr/share/keyrings/pkgs-osrf-archive-keyring.gpg 2>/dev/null
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echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/pkgs-osrf-archive-keyring.gpg] http://packages.osrfoundation.org/gazebo/ubuntu-stable $GZ_UBUNTU_CODENAME main" | sudo tee /etc/apt/sources.list.d/gazebo-stable.list > /dev/null
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sudo apt-get update
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# Install Gazebo Harmonic (preferred) or Garden as fallback
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if sudo apt-get install -y gz-harmonic; then
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GZ_VERSION="harmonic"
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# Install Harmonic development packages for building plugins
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sudo apt-get install -y \
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libgz-cmake3-dev \
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libgz-sim8-dev \
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libgz-plugin2-dev \
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libgz-common5-dev \
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libgz-physics7-dev \
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libgz-sensors8-dev \
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libgz-rendering8-dev \
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libgz-transport13-dev \
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libgz-msgs10-dev \
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rapidjson-dev \
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2>/dev/null || echo "[WARN] Some Gazebo dev packages may be missing"
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elif sudo apt-get install -y gz-garden; then
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GZ_VERSION="garden"
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# Install Garden development packages
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sudo apt-get install -y \
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libgz-cmake3-dev \
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libgz-sim7-dev \
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libgz-plugin2-dev \
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libgz-common5-dev \
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libgz-physics6-dev \
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libgz-sensors7-dev \
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libgz-rendering7-dev \
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libgz-transport12-dev \
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libgz-msgs9-dev \
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rapidjson-dev \
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2>/dev/null || echo "[WARN] Some Gazebo dev packages may be missing"
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else
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GZ_VERSION="none"
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echo "[WARN] Could not install Gazebo Harmonic/Garden"
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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 "[OK] Gazebo $GZ_VERSION installed ($(gz sim --version 2>/dev/null | head -1 || echo 'version unknown'))"
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else
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echo "[WARN] Gazebo command not found"
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fi
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# =============================================================================
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# STEP 4: Python Virtual Environment
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# =============================================================================
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echo ""
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echo "[STEP 4/$TOTAL_STEPS] Creating Python virtual environment..."
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if [ -d "$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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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 "$PROJECT_ROOT/requirements.txt"
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else
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pip install pybullet numpy pillow opencv-python pymavlink pexpect
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fi
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echo "[OK] Python virtual environment created"
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# =============================================================================
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# STEP 5: Create Activation Script
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# =============================================================================
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echo ""
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echo "[STEP 5/$TOTAL_STEPS] 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="$HOME/ardupilot"
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# Add ArduPilot tools to PATH
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export PATH="$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:$PATH"
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# =============================================================================
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# 3. Python Virtual Environment
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# =============================================================================
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# Deactivate any existing venv
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if [ -n "$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: $PROJECT_ROOT/activate.sh"
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# =============================================================================
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# STEP 6: Verify Base Installation
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# =============================================================================
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echo ""
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echo "[STEP 6/$TOTAL_STEPS] Verifying base installation..."
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source "$PROJECT_ROOT/activate.sh"
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python3 -c "import pybullet; print('[OK] PyBullet')" || echo "[FAIL] PyBullet"
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python3 -c "import numpy; print('[OK] NumPy')" || echo "[FAIL] NumPy"
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python3 -c "import cv2; print('[OK] OpenCV')" || echo "[WARN] OpenCV not installed"
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python3 -c "from pymavlink import mavutil; print('[OK] pymavlink')" || echo "[WARN] pymavlink not installed"
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# =============================================================================
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# ARDUPILOT INSTALLATION (Steps 7-10, if not skipped)
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# =============================================================================
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if [ "$INSTALL_ARDUPILOT" = true ]; then
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# =========================================================================
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# STEP 7: Clone and Setup ArduPilot
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# =========================================================================
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echo ""
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echo "[STEP 7/$TOTAL_STEPS] Setting up ArduPilot SITL..."
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if [ ! -d "$ARDUPILOT_HOME" ]; then
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echo "[INFO] Cloning ArduPilot repository..."
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git clone --recurse-submodules https://github.com/ArduPilot/ardupilot.git "$ARDUPILOT_HOME"
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else
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echo "[INFO] ArduPilot directory already exists"
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fi
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cd "$ARDUPILOT_HOME"
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# Install ArduPilot prerequisites (this creates ~/.ardupilot_env)
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echo "[INFO] Installing ArduPilot prerequisites (this may take a while)..."
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Tools/environment_install/install-prereqs-ubuntu.sh -y
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. ~/.profile || true
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# Source ArduPilot environment
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if [ -f "$HOME/.ardupilot_env" ]; then
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source "$HOME/.ardupilot_env"
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fi
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echo "[OK] ArduPilot prerequisites installed"
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# =========================================================================
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# STEP 8: Build ArduCopter SITL
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# =========================================================================
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echo ""
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echo "[STEP 8/$TOTAL_STEPS] Building ArduCopter SITL..."
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cd "$ARDUPILOT_HOME"
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./waf configure --board sitl
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./waf copter
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echo "[OK] ArduCopter SITL built"
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# =========================================================================
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# STEP 9: Build ArduPilot Gazebo Plugin
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# =========================================================================
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echo ""
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echo "[STEP 9/$TOTAL_STEPS] Building ArduPilot Gazebo plugin..."
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if [ ! -d "$ARDUPILOT_GZ" ]; then
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echo "[INFO] Cloning ardupilot_gazebo repository..."
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git clone https://github.com/ArduPilot/ardupilot_gazebo.git "$ARDUPILOT_GZ"
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else
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echo "[INFO] ardupilot_gazebo directory already exists"
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fi
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cd "$ARDUPILOT_GZ"
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mkdir -p build && cd build
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cmake .. -DCMAKE_BUILD_TYPE=Release
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make -j$(nproc)
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echo "[OK] ArduPilot Gazebo plugin built"
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# Install MAVProxy
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pip3 install --user pymavlink mavproxy pexpect
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# Verify ArduPilot installation
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echo ""
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echo "Verifying ArduPilot installation..."
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export PATH=$PATH:$ARDUPILOT_HOME/Tools/autotest:$HOME/.local/bin
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command -v sim_vehicle.py &> /dev/null && echo "[OK] sim_vehicle.py" || echo "[WARN] sim_vehicle.py not found"
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command -v gz &> /dev/null && echo "[OK] Gazebo (gz)" || echo "[WARN] Gazebo not found"
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command -v mavproxy.py &> /dev/null && echo "[OK] MAVProxy" || echo "[WARN] MAVProxy not in PATH"
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[ -f "$ARDUPILOT_GZ/build/libArduPilotPlugin.so" ] && echo "[OK] ArduPilot Gazebo plugin" || echo "[WARN] Plugin not built"
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fi
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# =============================================================================
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# INSTALLATION COMPLETE
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# =============================================================================
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echo ""
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echo "=============================================="
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echo " Installation Complete!"
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echo "=============================================="
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echo ""
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if [ "$INSTALL_ARDUPILOT" = true ]; then
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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 " source activate.sh"
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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 " cd ~/RDC_Simulation"
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echo " source activate.sh"
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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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else
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echo "Basic installation complete."
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echo ""
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echo "To install ArduPilot SITL later, run:"
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echo " ./setup/install_ubuntu.sh"
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echo ""
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echo "Or run manually:"
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echo " cd ~/RDC_Simulation"
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echo " source activate.sh"
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fi
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echo ""
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