111 lines
1.8 KiB
Markdown
111 lines
1.8 KiB
Markdown
# Installation Guide
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## Quick Install
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```bash
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./setup/install_ubuntu.sh
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source activate.sh
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python standalone_simulation.py
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```
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## Scripts
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| Platform | Command |
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|----------|---------|
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| Ubuntu/Debian | `./setup/install_ubuntu.sh` |
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| ArduPilot SITL | `./setup/install_ardupilot.sh` |
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| macOS | `./setup/install_macos.sh` |
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| Windows | `.\setup\install_windows.ps1` |
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## Platform Support
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| Mode | Ubuntu | macOS | Windows |
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|------|--------|-------|---------|
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| Standalone | ✅ | ✅ | ✅ |
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| Gazebo | ✅ | ❌ | WSL2 |
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| ArduPilot | ✅ | ❌ | WSL2 |
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---
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## Ubuntu/Debian
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```bash
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./setup/install_ubuntu.sh
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source activate.sh
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```
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Installs: ROS 2, Gazebo, PyBullet, OpenCV, pymavlink
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---
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## ArduPilot SITL
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```bash
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./setup/install_ardupilot.sh
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source ~/.bashrc
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```
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Installs: ArduPilot SITL, ardupilot_gazebo, MAVProxy
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**Run:**
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```bash
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./scripts/run_ardupilot_sim.sh camera
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```
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---
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## GPU Support
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The simulation auto-detects GPU:
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| Priority | GPU Type | Notes |
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|----------|----------|-------|
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| 1 | NVIDIA | Best performance |
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| 2 | Intel integrated | Good for laptops |
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| 3 | AMD | Good performance |
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| 4 | Software (llvmpipe) | Slow fallback |
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Check your GPU:
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```bash
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glxinfo | grep "OpenGL renderer"
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```
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---
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## Manual Install
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```bash
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python3 -m venv venv
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source venv/bin/activate
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pip install -r requirements.txt
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python standalone_simulation.py
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```
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---
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## Troubleshooting
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### Simulation is laggy
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```bash
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# Check GPU (should NOT show "llvmpipe")
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glxinfo | grep "OpenGL renderer"
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# Install GPU drivers
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sudo apt install mesa-utils # Intel/AMD
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sudo apt install nvidia-driver-535 # NVIDIA
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```
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### MAVProxy not found
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```bash
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pip3 install --user mavproxy
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export PATH=$PATH:~/.local/bin
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```
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### sim_vehicle.py not found
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```bash
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export PATH=$PATH:~/ardupilot/Tools/autotest
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```
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