348 lines
13 KiB
PowerShell
348 lines
13 KiB
PowerShell
# =============================================================================
|
|
# Drone Simulation - Windows Installation Script (PowerShell)
|
|
# =============================================================================
|
|
# Installs ROS 2 Humble, PyBullet, and all required dependencies
|
|
# Uses a Python virtual environment for pip packages
|
|
#
|
|
# Usage:
|
|
# 1. Open PowerShell as Administrator
|
|
# 2. Run: Set-ExecutionPolicy RemoteSigned -Scope CurrentUser
|
|
# 3. Run: .\install_windows.ps1
|
|
#
|
|
# Tested on: Windows 10/11
|
|
# =============================================================================
|
|
|
|
Write-Host "==============================================" -ForegroundColor Cyan
|
|
Write-Host " Drone Simulation - Windows Installation" -ForegroundColor Cyan
|
|
Write-Host "==============================================" -ForegroundColor Cyan
|
|
Write-Host ""
|
|
|
|
# Get script and project paths
|
|
$ScriptDir = Split-Path -Parent $MyInvocation.MyCommand.Path
|
|
$ProjectRoot = Split-Path -Parent $ScriptDir
|
|
$VenvDir = Join-Path $ProjectRoot "venv"
|
|
|
|
Write-Host "[INFO] Project root: $ProjectRoot" -ForegroundColor Gray
|
|
Write-Host "[INFO] Virtual environment: $VenvDir" -ForegroundColor Gray
|
|
|
|
# Check for Administrator privileges
|
|
$isAdmin = ([Security.Principal.WindowsPrincipal] [Security.Principal.WindowsIdentity]::GetCurrent()).IsInRole([Security.Principal.WindowsBuiltInRole]::Administrator)
|
|
if (-not $isAdmin) {
|
|
Write-Host "[WARN] Not running as Administrator. Some installations may fail." -ForegroundColor Yellow
|
|
Write-Host " Consider running PowerShell as Administrator." -ForegroundColor Yellow
|
|
Write-Host ""
|
|
}
|
|
|
|
# Function to refresh environment PATH
|
|
function Refresh-Path {
|
|
$env:Path = [System.Environment]::GetEnvironmentVariable("Path","Machine") + ";" + [System.Environment]::GetEnvironmentVariable("Path","User")
|
|
# Also add common Chocolatey paths
|
|
$chocoPath = "$env:ProgramData\chocolatey\bin"
|
|
if (Test-Path $chocoPath) {
|
|
$env:Path = "$chocoPath;$env:Path"
|
|
}
|
|
}
|
|
|
|
# -----------------------------------------------------------------------------
|
|
# Step 1: Install Chocolatey (Package Manager)
|
|
# -----------------------------------------------------------------------------
|
|
Write-Host "[STEP 1/7] Checking Chocolatey..." -ForegroundColor Green
|
|
|
|
$chocoInstalled = $false
|
|
try {
|
|
$chocoVersion = choco --version 2>$null
|
|
if ($chocoVersion) {
|
|
$chocoInstalled = $true
|
|
Write-Host "[INFO] Chocolatey already installed (version $chocoVersion)" -ForegroundColor Green
|
|
}
|
|
} catch {
|
|
$chocoInstalled = $false
|
|
}
|
|
|
|
if (-not $chocoInstalled) {
|
|
Write-Host "[INFO] Installing Chocolatey..." -ForegroundColor Yellow
|
|
|
|
try {
|
|
Set-ExecutionPolicy Bypass -Scope Process -Force
|
|
[System.Net.ServicePointManager]::SecurityProtocol = [System.Net.ServicePointManager]::SecurityProtocol -bor 3072
|
|
Invoke-Expression ((New-Object System.Net.WebClient).DownloadString('https://community.chocolatey.org/install.ps1'))
|
|
|
|
# Refresh environment to find choco
|
|
Refresh-Path
|
|
|
|
# Verify installation
|
|
$chocoPath = "$env:ProgramData\chocolatey\bin\choco.exe"
|
|
if (Test-Path $chocoPath) {
|
|
Write-Host "[INFO] Chocolatey installed successfully" -ForegroundColor Green
|
|
} else {
|
|
Write-Host "[ERROR] Chocolatey installation failed. Please install manually:" -ForegroundColor Red
|
|
Write-Host " https://chocolatey.org/install" -ForegroundColor Yellow
|
|
Write-Host "[INFO] After installing Chocolatey, close and reopen PowerShell, then run this script again." -ForegroundColor Yellow
|
|
exit 1
|
|
}
|
|
} catch {
|
|
Write-Host "[ERROR] Failed to install Chocolatey: $_" -ForegroundColor Red
|
|
Write-Host "[INFO] Please install Chocolatey manually: https://chocolatey.org/install" -ForegroundColor Yellow
|
|
exit 1
|
|
}
|
|
}
|
|
|
|
# -----------------------------------------------------------------------------
|
|
# Step 2: Install Python
|
|
# -----------------------------------------------------------------------------
|
|
Write-Host ""
|
|
Write-Host "[STEP 2/7] Installing Python..." -ForegroundColor Green
|
|
|
|
$pythonInstalled = $false
|
|
try {
|
|
$pythonVersion = python --version 2>$null
|
|
if ($pythonVersion -match "Python 3") {
|
|
$pythonInstalled = $true
|
|
Write-Host "[INFO] Python already installed ($pythonVersion)" -ForegroundColor Green
|
|
}
|
|
} catch {
|
|
$pythonInstalled = $false
|
|
}
|
|
|
|
if (-not $pythonInstalled) {
|
|
Write-Host "[INFO] Installing Python 3.11..." -ForegroundColor Yellow
|
|
|
|
# Use full path to choco if needed
|
|
$chocoExe = "$env:ProgramData\chocolatey\bin\choco.exe"
|
|
if (Test-Path $chocoExe) {
|
|
& $chocoExe install python311 -y
|
|
} else {
|
|
choco install python311 -y
|
|
}
|
|
|
|
Refresh-Path
|
|
|
|
# Verify
|
|
try {
|
|
$pythonVersion = python --version
|
|
Write-Host "[INFO] Python installed ($pythonVersion)" -ForegroundColor Green
|
|
} catch {
|
|
Write-Host "[ERROR] Python installation failed" -ForegroundColor Red
|
|
Write-Host "[INFO] Please install Python 3.11 manually from https://python.org" -ForegroundColor Yellow
|
|
exit 1
|
|
}
|
|
}
|
|
|
|
# -----------------------------------------------------------------------------
|
|
# Step 3: Install Visual C++ Build Tools (optional but recommended)
|
|
# -----------------------------------------------------------------------------
|
|
Write-Host ""
|
|
Write-Host "[STEP 3/7] Checking Visual C++ Build Tools..." -ForegroundColor Green
|
|
|
|
# Check if cl.exe exists (Visual C++ compiler)
|
|
$vsInstalled = $false
|
|
$vsPaths = @(
|
|
"C:\Program Files\Microsoft Visual Studio\2022\BuildTools\VC\Tools\MSVC",
|
|
"C:\Program Files\Microsoft Visual Studio\2022\Community\VC\Tools\MSVC",
|
|
"C:\Program Files (x86)\Microsoft Visual Studio\2019\BuildTools\VC\Tools\MSVC"
|
|
)
|
|
|
|
foreach ($path in $vsPaths) {
|
|
if (Test-Path $path) {
|
|
$vsInstalled = $true
|
|
Write-Host "[INFO] Visual C++ Build Tools found" -ForegroundColor Green
|
|
break
|
|
}
|
|
}
|
|
|
|
if (-not $vsInstalled) {
|
|
Write-Host "[INFO] Visual C++ Build Tools not found" -ForegroundColor Yellow
|
|
Write-Host "[INFO] Attempting to install (this may take 10-20 minutes)..." -ForegroundColor Yellow
|
|
|
|
try {
|
|
$chocoExe = "$env:ProgramData\chocolatey\bin\choco.exe"
|
|
if (Test-Path $chocoExe) {
|
|
& $chocoExe install visualstudio2022-workload-vctools -y
|
|
} else {
|
|
choco install visualstudio2022-workload-vctools -y
|
|
}
|
|
Write-Host "[INFO] Visual C++ Build Tools installed" -ForegroundColor Green
|
|
} catch {
|
|
Write-Host "[WARN] Could not install Visual C++ Build Tools automatically" -ForegroundColor Yellow
|
|
Write-Host "[INFO] PyBullet may fail to install. If it does, install Visual Studio Build Tools manually:" -ForegroundColor Yellow
|
|
Write-Host " https://visualstudio.microsoft.com/visual-cpp-build-tools/" -ForegroundColor Yellow
|
|
}
|
|
}
|
|
|
|
# -----------------------------------------------------------------------------
|
|
# Step 4: Download and Install ROS 2
|
|
# -----------------------------------------------------------------------------
|
|
Write-Host ""
|
|
Write-Host "[STEP 4/7] Installing ROS 2 Humble..." -ForegroundColor Green
|
|
|
|
$ros2Path = "C:\dev\ros2_humble"
|
|
|
|
if (-not (Test-Path $ros2Path)) {
|
|
Write-Host "[INFO] Downloading ROS 2 Humble..." -ForegroundColor Yellow
|
|
|
|
# Create installation directory
|
|
New-Item -ItemType Directory -Force -Path "C:\dev" | Out-Null
|
|
|
|
# Download ROS 2 binary
|
|
$ros2Url = "https://github.com/ros2/ros2/releases/download/release-humble-20240523/ros2-humble-20240523-windows-release-amd64.zip"
|
|
$ros2Zip = "$env:TEMP\ros2-humble.zip"
|
|
|
|
Write-Host "[INFO] This may take a while (1-2 GB download)..." -ForegroundColor Yellow
|
|
|
|
try {
|
|
# Use BITS for more reliable download
|
|
Start-BitsTransfer -Source $ros2Url -Destination $ros2Zip -DisplayName "Downloading ROS 2"
|
|
} catch {
|
|
# Fallback to Invoke-WebRequest
|
|
Write-Host "[INFO] Using alternative download method..." -ForegroundColor Yellow
|
|
Invoke-WebRequest -Uri $ros2Url -OutFile $ros2Zip
|
|
}
|
|
|
|
Write-Host "[INFO] Extracting ROS 2..." -ForegroundColor Yellow
|
|
Expand-Archive -Path $ros2Zip -DestinationPath "C:\dev" -Force
|
|
Remove-Item $ros2Zip
|
|
|
|
Write-Host "[INFO] ROS 2 installed to $ros2Path" -ForegroundColor Green
|
|
} else {
|
|
Write-Host "[INFO] ROS 2 already installed at $ros2Path" -ForegroundColor Green
|
|
}
|
|
|
|
# -----------------------------------------------------------------------------
|
|
# Step 5: Create Python Virtual Environment
|
|
# -----------------------------------------------------------------------------
|
|
Write-Host ""
|
|
Write-Host "[STEP 5/7] Creating Python virtual environment..." -ForegroundColor Green
|
|
|
|
# Remove existing venv if present
|
|
if (Test-Path $VenvDir) {
|
|
Remove-Item -Recurse -Force $VenvDir
|
|
}
|
|
|
|
# Create virtual environment
|
|
python -m venv $VenvDir
|
|
|
|
Write-Host "[INFO] Virtual environment created at: $VenvDir" -ForegroundColor Green
|
|
|
|
# -----------------------------------------------------------------------------
|
|
# Step 6: Install Python Dependencies in venv
|
|
# -----------------------------------------------------------------------------
|
|
Write-Host ""
|
|
Write-Host "[STEP 6/7] Installing Python dependencies in virtual environment..." -ForegroundColor Green
|
|
|
|
# Activate venv and install packages
|
|
& "$VenvDir\Scripts\Activate.ps1"
|
|
|
|
python -m pip install --upgrade pip
|
|
|
|
$requirementsFile = Join-Path $ProjectRoot "requirements.txt"
|
|
if (Test-Path $requirementsFile) {
|
|
pip install -r $requirementsFile
|
|
} else {
|
|
pip install pybullet pyinstaller pillow
|
|
}
|
|
|
|
Write-Host "[INFO] Python packages installed in venv" -ForegroundColor Green
|
|
|
|
# -----------------------------------------------------------------------------
|
|
# Step 7: Create Activation Script
|
|
# -----------------------------------------------------------------------------
|
|
Write-Host ""
|
|
Write-Host "[STEP 7/7] Creating activation scripts..." -ForegroundColor Green
|
|
|
|
# Create batch file for cmd.exe
|
|
$activateBat = Join-Path $ProjectRoot "activate.bat"
|
|
@"
|
|
@echo off
|
|
REM =============================================================================
|
|
REM Drone Simulation - Environment Activation Script (Windows CMD)
|
|
REM =============================================================================
|
|
REM Usage: activate.bat
|
|
REM =============================================================================
|
|
|
|
echo Activating ROS 2 Humble...
|
|
call C:\dev\ros2_humble\local_setup.bat
|
|
|
|
echo Activating Python virtual environment...
|
|
call "%~dp0venv\Scripts\activate.bat"
|
|
|
|
echo.
|
|
echo [OK] Environment ready! You can now run:
|
|
echo python simulation_host.py
|
|
echo python ros_bridge.py
|
|
echo python controllers.py
|
|
echo.
|
|
"@ | Out-File -FilePath $activateBat -Encoding ASCII
|
|
|
|
# Create PowerShell script
|
|
$activatePs1 = Join-Path $ProjectRoot "activate.ps1"
|
|
@"
|
|
# =============================================================================
|
|
# Drone Simulation - Environment Activation Script (Windows PowerShell)
|
|
# =============================================================================
|
|
# Usage: . .\activate.ps1
|
|
# =============================================================================
|
|
|
|
`$ScriptDir = Split-Path -Parent `$MyInvocation.MyCommand.Path
|
|
|
|
Write-Host "Activating ROS 2 Humble..." -ForegroundColor Yellow
|
|
& "C:\dev\ros2_humble\local_setup.ps1"
|
|
|
|
Write-Host "Activating Python virtual environment..." -ForegroundColor Yellow
|
|
& "`$ScriptDir\venv\Scripts\Activate.ps1"
|
|
|
|
Write-Host ""
|
|
Write-Host "[OK] Environment ready! You can now run:" -ForegroundColor Green
|
|
Write-Host " python simulation_host.py"
|
|
Write-Host " python ros_bridge.py"
|
|
Write-Host " python controllers.py"
|
|
Write-Host ""
|
|
"@ | Out-File -FilePath $activatePs1 -Encoding UTF8
|
|
|
|
Write-Host "[INFO] Created activation scripts:" -ForegroundColor Green
|
|
Write-Host " $activateBat (for CMD)" -ForegroundColor Gray
|
|
Write-Host " $activatePs1 (for PowerShell)" -ForegroundColor Gray
|
|
|
|
# -----------------------------------------------------------------------------
|
|
# Verification
|
|
# -----------------------------------------------------------------------------
|
|
Write-Host ""
|
|
Write-Host "==============================================" -ForegroundColor Cyan
|
|
Write-Host " Installation Complete!" -ForegroundColor Cyan
|
|
Write-Host "==============================================" -ForegroundColor Cyan
|
|
Write-Host ""
|
|
Write-Host "Verifying installation..." -ForegroundColor Yellow
|
|
Write-Host ""
|
|
|
|
try {
|
|
python -c "import pybullet; print(' PyBullet: OK')"
|
|
} catch {
|
|
Write-Host " PyBullet: FAILED" -ForegroundColor Red
|
|
}
|
|
|
|
try {
|
|
python -c "import PyInstaller; print(' PyInstaller: OK')"
|
|
} catch {
|
|
Write-Host " PyInstaller: FAILED" -ForegroundColor Red
|
|
}
|
|
|
|
try {
|
|
python -c "import PIL; print(' Pillow: OK')"
|
|
} catch {
|
|
Write-Host " Pillow: FAILED" -ForegroundColor Red
|
|
}
|
|
|
|
Write-Host ""
|
|
Write-Host "==============================================" -ForegroundColor Cyan
|
|
Write-Host " IMPORTANT: Activate the environment first!" -ForegroundColor Cyan
|
|
Write-Host "==============================================" -ForegroundColor Cyan
|
|
Write-Host ""
|
|
Write-Host "Before running any scripts, activate the environment:" -ForegroundColor Yellow
|
|
Write-Host " CMD: $activateBat" -ForegroundColor White
|
|
Write-Host " PowerShell: . $activatePs1" -ForegroundColor White
|
|
Write-Host ""
|
|
Write-Host "Then run the simulation:" -ForegroundColor Yellow
|
|
Write-Host " python simulation_host.py" -ForegroundColor White
|
|
Write-Host " python ros_bridge.py" -ForegroundColor White
|
|
Write-Host " python controllers.py" -ForegroundColor White
|
|
Write-Host ""
|