82 lines
2.3 KiB
Bash
Executable File
82 lines
2.3 KiB
Bash
Executable File
#!/bin/bash
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# =============================================================================
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# ArduPilot Controller Launcher
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# =============================================================================
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# Starts ArduPilot SITL and your drone controller together.
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#
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# Usage:
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# Terminal 1: ./scripts/run_ardupilot_sim.sh runway
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# Terminal 2: ./scripts/run_ardupilot_controller.sh
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# =============================================================================
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set -e
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SCRIPT_DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" && pwd)"
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PROJECT_DIR="$(dirname "$SCRIPT_DIR")"
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# Deactivate any existing virtual environment to avoid conflicts
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if [ -n "$VIRTUAL_ENV" ]; then
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deactivate 2>/dev/null || true
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fi
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# 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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# Activate ArduPilot venv (has empy and other dependencies)
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# This MUST be the active venv for sim_vehicle.py to work
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if [ -f "$HOME/venv-ardupilot/bin/activate" ]; then
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source "$HOME/venv-ardupilot/bin/activate"
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fi
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echo "=============================================="
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echo " ArduPilot Controller"
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echo "=============================================="
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echo ""
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# Check dependencies
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if ! command -v sim_vehicle.py &> /dev/null; then
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echo "[ERROR] sim_vehicle.py not found"
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echo "Add to PATH: export PATH=\$PATH:~/ardupilot/Tools/autotest"
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exit 1
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fi
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# Verify correct Python environment (ArduPilot venv should have empy)
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if ! python3 -c "import em" 2>/dev/null; then
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echo "[WARN] empy not found in current Python environment"
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echo "[INFO] Attempting to use ArduPilot venv..."
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if [ -f "$HOME/venv-ardupilot/bin/activate" ]; then
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source "$HOME/venv-ardupilot/bin/activate"
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fi
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fi
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# Start SITL in background
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echo "[INFO] Starting ArduPilot SITL..."
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sim_vehicle.py -v ArduCopter -f gazebo-iris --model JSON --no-mavproxy &
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SITL_PID=$!
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# Wait for SITL to start
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sleep 5
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# Check if SITL started
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if ! kill -0 $SITL_PID 2>/dev/null; then
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echo "[ERROR] SITL failed to start"
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exit 1
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fi
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echo "[OK] SITL started (PID: $SITL_PID)"
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echo ""
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# Trap to kill SITL on exit
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trap "echo ''; echo '[INFO] Stopping SITL...'; kill $SITL_PID 2>/dev/null; exit 0" INT TERM
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# Run controller
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echo "[INFO] Starting drone controller..."
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echo ""
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cd "$PROJECT_DIR"
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python scripts/run_ardupilot.py "$@"
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# Cleanup
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kill $SITL_PID 2>/dev/null
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