128 lines
4.6 KiB
Bash
Executable File
128 lines
4.6 KiB
Bash
Executable File
#!/bin/bash
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# =============================================================================
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# ArduPilot Gazebo Simulation Launcher
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# =============================================================================
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# Launches Gazebo with the ArduPilot iris drone.
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# START THIS FIRST, then run SITL in another terminal.
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#
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# Usage:
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# ./scripts/run_ardupilot_sim.sh # Default runway
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# ./scripts/run_ardupilot_sim.sh warehouse # Indoor warehouse
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# =============================================================================
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set -e
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echo "=============================================="
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echo " Gazebo + ArduPilot Simulation"
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echo "=============================================="
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echo ""
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SCRIPT_DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" && pwd)"
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PROJECT_DIR="$(dirname "$SCRIPT_DIR")"
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# =============================================================================
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# GPU DETECTION
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# =============================================================================
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echo "[INFO] Detecting GPU..."
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export LIBGL_ALWAYS_SOFTWARE=0
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if command -v nvidia-smi &> /dev/null && nvidia-smi &> /dev/null 2>&1; then
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GPU_NAME=$(nvidia-smi --query-gpu=name --format=csv,noheader 2>/dev/null | head -1)
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echo "[GPU] NVIDIA: $GPU_NAME"
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export __GLX_VENDOR_LIBRARY_NAME=nvidia
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export __NV_PRIME_RENDER_OFFLOAD=1
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elif command -v glxinfo &> /dev/null; then
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GPU_NAME=$(glxinfo 2>/dev/null | grep "OpenGL renderer" | cut -d: -f2 | xargs)
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echo "[GPU] $GPU_NAME"
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export MESA_GL_VERSION_OVERRIDE=3.3
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else
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echo "[GPU] Unknown - using Mesa defaults"
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export MESA_GL_VERSION_OVERRIDE=3.3
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fi
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# =============================================================================
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# GAZEBO PATHS
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# =============================================================================
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export GZ_SIM_SYSTEM_PLUGIN_PATH="${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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export GZ_SIM_RESOURCE_PATH="${PROJECT_DIR}/gazebo/models:${GZ_SIM_RESOURCE_PATH}"
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# =============================================================================
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# CHECK INSTALLATION
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# =============================================================================
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if [ ! -d "${HOME}/ardupilot_gazebo" ]; then
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echo "[ERROR] ardupilot_gazebo directory not found!"
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echo ""
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echo "Install with: ./setup/install_ardupilot.sh"
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exit 1
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fi
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if [ ! -f "${HOME}/ardupilot_gazebo/build/libArduPilotPlugin.so" ]; then
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echo "[ERROR] ArduPilot Gazebo plugin not built!"
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echo ""
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echo "Build it:"
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echo " cd ~/ardupilot_gazebo"
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echo " mkdir -p build && cd build"
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echo " cmake .. && make -j4"
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exit 1
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fi
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# =============================================================================
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# SELECT WORLD
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# =============================================================================
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WORLD_ARG="${1:-runway}"
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case "$WORLD_ARG" in
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runway|default)
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WORLD="${HOME}/ardupilot_gazebo/worlds/iris_runway.sdf"
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;;
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warehouse)
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WORLD="${HOME}/ardupilot_gazebo/worlds/iris_warehouse.sdf"
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;;
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*)
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if [ -f "$WORLD_ARG" ]; then
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WORLD="$WORLD_ARG"
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elif [ -f "${HOME}/ardupilot_gazebo/worlds/${WORLD_ARG}.sdf" ]; then
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WORLD="${HOME}/ardupilot_gazebo/worlds/${WORLD_ARG}.sdf"
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else
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echo "[ERROR] World not found: $WORLD_ARG"
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echo ""
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echo "Available worlds:"
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echo " runway - Outdoor runway (default)"
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echo " warehouse - Indoor warehouse"
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exit 1
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fi
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;;
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esac
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echo "[OK] World: $(basename "$WORLD")"
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echo ""
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# =============================================================================
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# INSTRUCTIONS
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# =============================================================================
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echo "=============================================="
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echo " NEXT STEPS"
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echo "=============================================="
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echo ""
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echo "After Gazebo loads, open a NEW terminal and run:"
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echo ""
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echo " source ~/venv-ardupilot/bin/activate"
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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 "Then open ANOTHER terminal to run the controller:"
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echo ""
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echo " source ~/venv-ardupilot/bin/activate"
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echo " cd ~/RDC_Simulation"
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echo " python scripts/run_ardupilot.py --pattern square"
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echo ""
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echo "=============================================="
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echo ""
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echo "[INFO] Starting Gazebo..."
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# =============================================================================
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# RUN GAZEBO
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# =============================================================================
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gz sim -v4 -r "$WORLD"
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