Gazebo Sim World Update

activate_venv.sh

@@ -1,61 +1,56 @@
 #!/bin/bash
-# Activate virtual environment and setup for UAV-UGV Simulation
+# UAV-UGV Simulation - Environment Activation
+# Usage: source activate_venv.sh
 
 SCRIPT_DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" && pwd)"
 
-# Detect ROS distro
-ROS_DISTRO=""
-for distro in humble jazzy iron galactic; do
-    if [ -d "/opt/ros/$distro" ]; then
-        ROS_DISTRO="$distro"
-        break
-    fi
-done
-
-# Source ROS 2
-if [ -n "$ROS_DISTRO" ] && [ -f "/opt/ros/${ROS_DISTRO}/setup.bash" ]; then
-    source /opt/ros/${ROS_DISTRO}/setup.bash
+# ROS 2 Setup
+if [ -f "/opt/ros/jazzy/setup.bash" ]; then
+    source /opt/ros/jazzy/setup.bash
+    ROS_VER="jazzy"
+elif [ -f "/opt/ros/humble/setup.bash" ]; then
+    source /opt/ros/humble/setup.bash
+    ROS_VER="humble"
+else
+    echo "[WARN] ROS 2 not found in /opt/ros/"
+    ROS_VER="none"
 fi
 
-# Source Gazebo setup (critical for shader/resource paths)
-if [ -f /usr/share/gazebo/setup.bash ]; then
-    source /usr/share/gazebo/setup.bash
-elif [ -f /usr/share/gazebo-11/setup.bash ]; then
-    source /usr/share/gazebo-11/setup.bash
+# ArduPilot Environment
+export ARDUPILOT_HOME="$HOME/ardupilot"
+export PATH="$ARDUPILOT_HOME/Tools/autotest:$PATH"
+export PATH="$HOME/.local/bin:$PATH"
+
+# Deactivate existing venv
+if [ -n "$VIRTUAL_ENV" ]; then
+    deactivate 2>/dev/null || true
 fi
 
-# Activate Python virtual environment
+# Activate project venv
 if [ -f "$SCRIPT_DIR/venv/bin/activate" ]; then
     source "$SCRIPT_DIR/venv/bin/activate"
 fi
 
-# Source ROS workspace if built
-if [ -f "$SCRIPT_DIR/../install/setup.bash" ]; then
-    source "$SCRIPT_DIR/../install/setup.bash"
-elif [ -f "$SCRIPT_DIR/install/setup.bash" ]; then
-    source "$SCRIPT_DIR/install/setup.bash"
+# Gazebo paths (new Gazebo - Ignition/Harmonic)
+export GZ_SIM_RESOURCE_PATH="$SCRIPT_DIR/models:$SCRIPT_DIR/worlds:${GZ_SIM_RESOURCE_PATH:-}"
+
+# ArduPilot Gazebo plugin
+if [ -d "$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
 
-# Gazebo model and resource paths
-export GAZEBO_MODEL_PATH="$SCRIPT_DIR/models:${GAZEBO_MODEL_PATH:-}"
-export GAZEBO_RESOURCE_PATH="$SCRIPT_DIR/worlds:${GAZEBO_RESOURCE_PATH:-}"
-
-# ArduPilot Gazebo (if installed)
-if [ -d "$HOME/ardupilot_gazebo" ]; then
-    export GAZEBO_MODEL_PATH="$HOME/ardupilot_gazebo/models:$GAZEBO_MODEL_PATH"
-    export GAZEBO_RESOURCE_PATH="$HOME/ardupilot_gazebo/worlds:$GAZEBO_RESOURCE_PATH"
-fi
-
-# WSL environment (if applicable)
+# WSL environment
 if grep -qEi "(microsoft|wsl)" /proc/version 2>/dev/null; then
-    if [ -f "$SCRIPT_DIR/wsl_env.sh" ]; then
-        source "$SCRIPT_DIR/wsl_env.sh"
+    if [ -d "/mnt/wslg" ]; then
+        export DISPLAY=:0
+    else
+        export DISPLAY=$(cat /etc/resolv.conf 2>/dev/null | grep nameserver | awk '{print $2}'):0
     fi
+    export LIBGL_ALWAYS_INDIRECT=0
+    export MESA_GL_VERSION_OVERRIDE=3.3
 fi
 
-echo -e "\033[0;32mEnvironment activated (ROS 2 ${ROS_DISTRO:-not found})\033[0m"
-echo "Run: bash scripts/run_simulation.sh"
+echo -e "\033[0;32mEnvironment activated (ROS 2 $ROS_VER)\033[0m"
 echo ""
-echo "Options:"
-echo "  bash scripts/run_simulation.sh                    # Default world"
-echo "  bash scripts/run_simulation.sh --software-render  # For WSL/rendering issues"
+echo "Run simulation:  bash scripts/run_simulation.sh"