Controller Update

docs/setup_guide.md

@@ -1,87 +1,106 @@
 # Setup Guide
 
-Complete installation for Ubuntu 22.04/24.04 and WSL2.
+## Prerequisites
 
-## One-Command Installation
+- Ubuntu 22.04 (Humble) or 24.04 (Jazzy)
+- 16GB RAM minimum
+- 50GB free disk space
+- Internet connection
+
+## Automatic Installation
+
+The `setup.sh` script installs everything automatically:
 
 ```bash
-git clone https://git.sirblob.co/SirBlob/simulation.git
-cd simulation
+cd ~/sim/uav_ugv_simulation
 bash setup.sh
 ```
 
-The script installs:
-- ROS 2 (Humble or Jazzy)
-- Gazebo Harmonic
-- ArduPilot SITL
-- ardupilot_gazebo plugin
-- Python dependencies
+### What Gets Installed
 
-Installation takes 20-40 minutes.
+1. **ROS 2** (Humble or Jazzy based on Ubuntu version)
+2. **Gazebo Harmonic** (modern simulation)
+3. **ArduPilot SITL** (flight controller)
+4. **ardupilot_gazebo plugin** (ArduPilot-Gazebo bridge)
+5. **Python dependencies** (pymavlink, opencv, scipy, etc.)
+6. **MAVROS** (ROS 2 - MAVLink bridge)
+
+### Installation Time
+
+- First install: 20-40 minutes
+- ArduPilot build: ~15 minutes
+- Gazebo plugin build: ~5 minutes
 
 ## Manual Installation
 
-If you prefer to install components separately:
-
-### 1. ROS 2
+### Step 1: Install ROS 2
 
 ```bash
-# Add ROS 2 repository
-sudo curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key \
-    -o /usr/share/keyrings/ros-archive-keyring.gpg
-
-echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] \
-    http://packages.ros.org/ros2/ubuntu $(lsb_release -cs) main" | \
-    sudo tee /etc/apt/sources.list.d/ros2.list
-
+# Ubuntu 22.04
+sudo apt install software-properties-common
+sudo add-apt-repository universe
+sudo apt update && sudo apt install curl -y
+sudo curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -o /usr/share/keyrings/ros-archive-keyring.gpg
+echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] http://packages.ros.org/ros2/ubuntu $(. /etc/os-release && echo $UBUNTU_CODENAME) main" | sudo tee /etc/apt/sources.list.d/ros2.list > /dev/null
 sudo apt update
-sudo apt install ros-humble-ros-base ros-humble-ros-gz
+sudo apt install ros-humble-desktop
 ```
 
-### 2. Gazebo Harmonic
+### Step 2: Install Gazebo Harmonic
 
 ```bash
-sudo wget https://packages.osrfoundation.org/gazebo.gpg \
-    -O /usr/share/keyrings/pkgs-osrf-archive-keyring.gpg
-
-echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/pkgs-osrf-archive-keyring.gpg] \
-    http://packages.osrfoundation.org/gazebo/ubuntu-stable $(lsb_release -cs) main" | \
-    sudo tee /etc/apt/sources.list.d/gazebo-stable.list
-
+sudo apt install -y wget
+sudo wget https://packages.osrfoundation.org/gazebo.gpg -O /usr/share/keyrings/pkgs-osrf-archive-keyring.gpg
+echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/pkgs-osrf-archive-keyring.gpg] http://packages.osrfoundation.org/gazebo/ubuntu-stable $(lsb_release -cs) main" | sudo tee /etc/apt/sources.list.d/gazebo-stable.list
 sudo apt update
-sudo apt install gz-harmonic libgz-cmake3-dev libgz-sim8-dev
+sudo apt install gz-harmonic
 ```
 
-### 3. ArduPilot SITL
+### Step 3: Install ArduPilot
 
 ```bash
-git clone --recurse-submodules https://github.com/ArduPilot/ardupilot.git ~/ardupilot
-cd ~/ardupilot
+cd ~
+git clone --recurse-submodules https://github.com/ArduPilot/ardupilot.git
+cd ardupilot
 Tools/environment_install/install-prereqs-ubuntu.sh -y
 . ~/.profile
 ./waf configure --board sitl
 ./waf copter
 ```
 
-### 4. ardupilot_gazebo Plugin
+### Step 4: Install ardupilot_gazebo Plugin
 
 ```bash
-git clone https://github.com/ArduPilot/ardupilot_gazebo.git ~/ardupilot_gazebo
-cd ~/ardupilot_gazebo
+cd ~
+git clone https://github.com/ArduPilot/ardupilot_gazebo.git
+cd ardupilot_gazebo
 mkdir build && cd build
-cmake .. -DCMAKE_BUILD_TYPE=Release
-make -j$(nproc)
+cmake .. -DCMAKE_BUILD_TYPE=RelWithDebInfo
+make -j4
 ```
 
-### 5. Python Environment
+### Step 5: Install Python Dependencies
 
 ```bash
-cd ~/simulation
+cd ~/sim/uav_ugv_simulation
 python3 -m venv venv
 source venv/bin/activate
 pip install -r requirements.txt
 ```
 
+## Environment Setup
+
+After installation, source the environment:
+
+```bash
+source ~/sim/uav_ugv_simulation/activate_venv.sh
+```
+
+This sets up:
+- Python virtual environment
+- Gazebo resource paths
+- ArduPilot paths
+
 ## Verify Installation
 
 ```bash
@@ -91,26 +110,23 @@ gz sim --version
 # Check ArduPilot
 sim_vehicle.py --help
 
-# Check plugin
-ls ~/ardupilot_gazebo/build/libArduPilotPlugin.so
-```
-
-## Running the Simulation
-
-```bash
-cd ~/simulation
-source activate_venv.sh
-bash scripts/run_simulation.sh
+# Check Python deps
+python3 -c "import pymavlink; print('pymavlink OK')"
+python3 -c "import cv2; print('opencv OK')"
 ```
 
 ## Uninstall
 
 ```bash
-bash scripts/uninstall.sh         # ArduPilot and plugin only
-bash scripts/uninstall.sh --all   # Everything including project
+# Remove ArduPilot and plugin only
+bash scripts/uninstall.sh
+
+# Remove everything including venv
+bash scripts/uninstall.sh --all
 ```
 
-To remove ROS 2 and Gazebo:
-```bash
-sudo apt remove ros-humble-* gz-harmonic
-```
+## Next Steps
+
+1. Run a test simulation: `bash scripts/run_autonomous.sh --mission hover`
+2. Read the [Usage Guide](usage.md)
+3. Check [Troubleshooting](troubleshooting.md) if issues arise