235 lines
7.6 KiB
Bash
Executable File
235 lines
7.6 KiB
Bash
Executable File
#!/bin/bash
|
|
# =============================================================================
|
|
# Drone Simulation - Arch Linux Installation Script
|
|
# =============================================================================
|
|
# Installs PyBullet and Python dependencies
|
|
# ROS 2 requires AUR (optional - not needed for standalone mode)
|
|
# ArduPilot SITL can be built from source (optional)
|
|
#
|
|
# Usage: ./install_arch.sh
|
|
# =============================================================================
|
|
|
|
set -e
|
|
|
|
echo "=============================================="
|
|
echo " Drone Simulation - Arch Linux Installation"
|
|
echo "=============================================="
|
|
echo ""
|
|
|
|
# Get script directory and project root
|
|
SCRIPT_DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" && pwd)"
|
|
PROJECT_ROOT="$(dirname "$SCRIPT_DIR")"
|
|
VENV_DIR="$PROJECT_ROOT/venv"
|
|
|
|
echo "[INFO] Project root: $PROJECT_ROOT"
|
|
echo "[INFO] Virtual environment: $VENV_DIR"
|
|
|
|
# -----------------------------------------------------------------------------
|
|
# Step 1: System Dependencies
|
|
# -----------------------------------------------------------------------------
|
|
echo ""
|
|
echo "[STEP 1/5] Installing system dependencies..."
|
|
|
|
sudo pacman -Syu --noconfirm
|
|
sudo pacman -S --needed --noconfirm \
|
|
python \
|
|
python-pip \
|
|
python-virtualenv \
|
|
base-devel \
|
|
git \
|
|
curl \
|
|
mesa \
|
|
libglvnd
|
|
|
|
echo "[INFO] System dependencies installed"
|
|
|
|
# -----------------------------------------------------------------------------
|
|
# Step 2: Install AUR Helper (yay) - Optional for ROS 2
|
|
# -----------------------------------------------------------------------------
|
|
echo ""
|
|
echo "[STEP 2/5] Checking AUR helper..."
|
|
|
|
if command -v yay &> /dev/null; then
|
|
echo "[INFO] yay already installed"
|
|
HAS_YAY=true
|
|
else
|
|
echo "[INFO] Installing yay (AUR helper)..."
|
|
|
|
cd /tmp
|
|
if [ -d "yay" ]; then
|
|
rm -rf yay
|
|
fi
|
|
git clone https://aur.archlinux.org/yay.git
|
|
cd yay
|
|
makepkg -si --noconfirm
|
|
cd "$PROJECT_ROOT"
|
|
|
|
HAS_YAY=true
|
|
echo "[INFO] yay installed"
|
|
fi
|
|
|
|
# -----------------------------------------------------------------------------
|
|
# Step 3: Create Python Virtual Environment
|
|
# -----------------------------------------------------------------------------
|
|
echo ""
|
|
echo "[STEP 3/5] Creating Python virtual environment..."
|
|
|
|
if [ -d "$VENV_DIR" ]; then
|
|
rm -rf "$VENV_DIR"
|
|
fi
|
|
|
|
python -m venv "$VENV_DIR"
|
|
echo "[INFO] Virtual environment created at: $VENV_DIR"
|
|
|
|
# -----------------------------------------------------------------------------
|
|
# Step 4: Install Python Dependencies
|
|
# -----------------------------------------------------------------------------
|
|
echo ""
|
|
echo "[STEP 4/5] Installing Python dependencies..."
|
|
|
|
source "$VENV_DIR/bin/activate"
|
|
pip install --upgrade pip
|
|
|
|
if [ -f "$PROJECT_ROOT/requirements.txt" ]; then
|
|
echo "[INFO] Installing from requirements.txt..."
|
|
pip install -r "$PROJECT_ROOT/requirements.txt"
|
|
else
|
|
echo "[INFO] Installing packages manually..."
|
|
pip install pybullet numpy pillow pyinstaller
|
|
fi
|
|
|
|
echo "[INFO] Python packages installed"
|
|
|
|
# -----------------------------------------------------------------------------
|
|
# Step 5: Create Activation Script
|
|
# -----------------------------------------------------------------------------
|
|
echo ""
|
|
echo "[STEP 5/5] Creating activation script..."
|
|
|
|
cat > "$PROJECT_ROOT/activate.sh" << 'EOF'
|
|
#!/bin/bash
|
|
# Drone Simulation - Environment Activation (Arch Linux)
|
|
|
|
SCRIPT_DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" && pwd)"
|
|
|
|
# Try to source ROS 2 if available (from AUR)
|
|
if [ -f "/opt/ros/humble/setup.bash" ]; then
|
|
source /opt/ros/humble/setup.bash
|
|
echo "[OK] ROS 2 humble sourced"
|
|
elif [ -f "/opt/ros/jazzy/setup.bash" ]; then
|
|
source /opt/ros/jazzy/setup.bash
|
|
echo "[OK] ROS 2 jazzy sourced"
|
|
else
|
|
echo "[INFO] ROS 2 not found - standalone mode available"
|
|
fi
|
|
|
|
# Source ArduPilot environment (if installed)
|
|
if [ -f "$HOME/.ardupilot_env" ]; then
|
|
source "$HOME/.ardupilot_env"
|
|
echo "[OK] ArduPilot environment"
|
|
fi
|
|
|
|
# Activate ArduPilot venv (has empy and other dependencies)
|
|
if [ -f "$HOME/venv-ardupilot/bin/activate" ]; then
|
|
source "$HOME/venv-ardupilot/bin/activate"
|
|
echo "[OK] ArduPilot venv"
|
|
# Fallback to project venv
|
|
elif [ -f "$SCRIPT_DIR/venv/bin/activate" ]; then
|
|
source "$SCRIPT_DIR/venv/bin/activate"
|
|
echo "[OK] Python venv activated"
|
|
fi
|
|
|
|
# Set Gazebo model path if available
|
|
export GZ_SIM_RESOURCE_PATH="$SCRIPT_DIR/gazebo/models:$GZ_SIM_RESOURCE_PATH"
|
|
|
|
# Add paths for ArduPilot tools
|
|
export PATH="$PATH:$HOME/.local/bin"
|
|
export PATH="$PATH:$HOME/ardupilot/Tools/autotest"
|
|
|
|
# ArduPilot Gazebo plugin
|
|
if [ -d "$HOME/ardupilot_gazebo/build" ]; then
|
|
export GZ_SIM_SYSTEM_PLUGIN_PATH="$HOME/ardupilot_gazebo/build:$GZ_SIM_SYSTEM_PLUGIN_PATH"
|
|
export GZ_SIM_RESOURCE_PATH="$HOME/ardupilot_gazebo/models:$HOME/ardupilot_gazebo/worlds:$GZ_SIM_RESOURCE_PATH"
|
|
fi
|
|
|
|
echo ""
|
|
echo "Environment ready! Run:"
|
|
echo " python standalone_simulation.py"
|
|
echo ""
|
|
EOF
|
|
|
|
chmod +x "$PROJECT_ROOT/activate.sh"
|
|
echo "[INFO] Created: $PROJECT_ROOT/activate.sh"
|
|
|
|
# -----------------------------------------------------------------------------
|
|
# Verification
|
|
# -----------------------------------------------------------------------------
|
|
echo ""
|
|
echo "Verifying installation..."
|
|
|
|
source "$PROJECT_ROOT/activate.sh"
|
|
|
|
echo ""
|
|
echo "Checking Python packages:"
|
|
python -c "import pybullet; print(' PyBullet: OK')" || echo " PyBullet: FAILED"
|
|
python -c "import numpy; print(' NumPy: OK')" || echo " NumPy: FAILED"
|
|
python -c "from PIL import Image; print(' Pillow: OK')" || echo " Pillow: FAILED"
|
|
python -c "from pymavlink import mavutil; print(' pymavlink: OK')" || echo " pymavlink: FAILED"
|
|
|
|
echo ""
|
|
echo "=============================================="
|
|
echo " Installation Complete!"
|
|
echo "=============================================="
|
|
echo ""
|
|
echo "Quick start:"
|
|
echo " source activate.sh"
|
|
echo " python standalone_simulation.py"
|
|
echo ""
|
|
echo "With moving rover:"
|
|
echo " python standalone_simulation.py --pattern circular --speed 0.3"
|
|
echo ""
|
|
echo "=============================================="
|
|
echo " Optional: Install ROS 2 + Gazebo from AUR"
|
|
echo "=============================================="
|
|
echo ""
|
|
echo "If you need ROS 2 for the full simulation mode:"
|
|
echo ""
|
|
echo " # Install ROS 2 Humble"
|
|
echo " yay -S ros-humble-desktop"
|
|
echo ""
|
|
echo " # Install Gazebo bridge"
|
|
echo " yay -S ros-humble-ros-gz"
|
|
echo ""
|
|
echo " # Install Gazebo Fortress (provides 'ign' command)"
|
|
echo " yay -S ignition-fortress"
|
|
echo ""
|
|
echo "After installing, use:"
|
|
echo " ign gazebo gazebo/worlds/drone_landing.sdf # Terminal 1"
|
|
echo " python run_gazebo.py --pattern circular # Terminal 2"
|
|
echo ""
|
|
echo "=============================================="
|
|
echo " Optional: Install ArduPilot SITL"
|
|
echo "=============================================="
|
|
echo ""
|
|
echo "For realistic flight controller simulation:"
|
|
echo ""
|
|
echo " # Clone and build ArduPilot"
|
|
echo " git clone --recurse-submodules https://github.com/ArduPilot/ardupilot.git ~/ardupilot"
|
|
echo " cd ~/ardupilot"
|
|
echo " pip install -r Tools/environment_install/requirements.txt"
|
|
echo ""
|
|
echo " # Clone and build ArduPilot Gazebo plugin"
|
|
echo " git clone https://github.com/ArduPilot/ardupilot_gazebo.git ~/ardupilot_gazebo"
|
|
echo " cd ~/ardupilot_gazebo && mkdir build && cd build"
|
|
echo " cmake .. && make -j$(nproc)"
|
|
echo ""
|
|
echo " # Add to environment"
|
|
echo " export ARDUPILOT_HOME=~/ardupilot"
|
|
echo " export PATH=\$PATH:\$ARDUPILOT_HOME/Tools/autotest"
|
|
echo " export GZ_SIM_SYSTEM_PLUGIN_PATH=~/ardupilot_gazebo/build:\$GZ_SIM_SYSTEM_PLUGIN_PATH"
|
|
echo ""
|
|
echo "Then run:"
|
|
echo " python run_ardupilot.py --pattern circular"
|
|
echo ""
|
|
|