Controller Update

docs/wsl_setup_guide.md

@@ -1,129 +1,187 @@
 # WSL Setup Guide
 
-Setup guide for Windows Subsystem for Linux (WSL2).
+## Overview
 
-## Prerequisites
+This guide covers running the UAV-UGV simulation on Windows Subsystem for Linux (WSL2).
 
-- Windows 10 (version 21H2+) or Windows 11
+## Requirements
+
+- Windows 10 (21H2+) or Windows 11
 - WSL2 with Ubuntu 22.04
+- 16GB RAM minimum
+- Optional: NVIDIA GPU with WSL drivers
 
-### Install WSL2
+## WSL2 Installation
+
+### 1. Enable WSL2
 
 Open PowerShell as Administrator:
 
+```powershell
+wsl --install
+```
+
+### 2. Install Ubuntu
+
 ```powershell
 wsl --install -d Ubuntu-22.04
 ```
 
-Restart your computer, then open Ubuntu from the Start menu.
+### 3. Set WSL2 as Default
 
-## GUI Support
+```powershell
+wsl --set-default-version 2
+```
 
-### Windows 11 (WSLg)
+## Graphics Setup
 
-GUI works automatically. No additional setup needed.
+### Option A: WSLg (Windows 11 - Recommended)
 
-### Windows 10 (VcXsrv)
+WSLg is built into Windows 11 and works automatically.
 
-1. Download and install [VcXsrv](https://sourceforge.net/projects/vcxsrv/)
-2. Run XLaunch with these settings:
-   - Multiple windows
-   - Start no client
-   - Disable access control (checked)
-3. In WSL, set DISPLAY:
+Verify:
 ```bash
-export DISPLAY=$(cat /etc/resolv.conf | grep nameserver | awk '{print $2}'):0
+echo $DISPLAY
+# Should show something like :0
+```
+
+### Option B: VcXsrv (Windows 10)
+
+1. Download VcXsrv: https://sourceforge.net/projects/vcxsrv/
+2. Launch with "Disable access control" checked
+3. In WSL:
+
+```bash
+export DISPLAY=$(grep nameserver /etc/resolv.conf | awk '{print $2}'):0
+echo "export DISPLAY=$(grep nameserver /etc/resolv.conf | awk '{print $2}'):0" >> ~/.bashrc
+```
+
+## GPU Support
+
+### NVIDIA GPU (Optional)
+
+1. Install NVIDIA drivers for WSL: https://developer.nvidia.com/cuda/wsl
+2. Verify in WSL:
+
+```bash
+nvidia-smi
+```
+
+If working, you can use hardware acceleration.
+
+### Software Rendering (No GPU)
+
+Most reliable for WSL:
+
+```bash
+export LIBGL_ALWAYS_SOFTWARE=1
+export GALLIUM_DRIVER=llvmpipe
 ```
 
 ## Installation
 
+Same as native Ubuntu:
+
 ```bash
-git clone https://git.sirblob.co/SirBlob/simulation.git
-cd simulation
+cd ~/sim/uav_ugv_simulation
 bash setup.sh
 ```
 
-The setup script automatically:
-- Detects WSL environment
-- Installs GUI support packages
-- Creates WSL environment file
-- Configures DISPLAY variable
+## Running Simulation
 
-## Running the Simulation
+**Always use software rendering on WSL:**
 
 ```bash
-cd ~/simulation
 source activate_venv.sh
-bash scripts/run_simulation.sh
+bash scripts/run_autonomous.sh --software-render --mission hover
 ```
 
-If graphics are slow or Gazebo crashes:
-```bash
-bash scripts/run_simulation.sh --software-render
+## Performance Tips
+
+### 1. Allocate More Memory
+
+Create/edit `%USERPROFILE%\.wslconfig`:
+
+```ini
+[wsl2]
+memory=12GB
+processors=4
+swap=8GB
 ```
 
+Restart WSL:
+```powershell
+wsl --shutdown
+```
+
+### 2. Use Fast Storage
+
+Run simulation from Windows filesystem only if needed:
+```bash
+# Faster (Linux filesystem)
+cd ~/sim/uav_ugv_simulation
+
+# Slower (Windows filesystem)
+cd /mnt/c/Projects/simulation
+```
+
+### 3. Disable Unnecessary Visuals
+
+In software rendering mode, Gazebo is slower. Consider:
+- Running headless: `--headless` flag
+- Reducing physics rate
+- Simpler world files
+
 ## Troubleshooting
 
-### Black screen or no display
+### "cannot open display"
 
-Check DISPLAY variable:
 ```bash
-echo $DISPLAY
+# For WSLg
+export DISPLAY=:0
+
+# For VcXsrv
+export DISPLAY=$(grep nameserver /etc/resolv.conf | awk '{print $2}'):0
 ```
 
-For WSLg (Windows 11), should be `:0`
-For VcXsrv (Windows 10), should be `<IP>:0`
+### Graphics freeze/crash
 
-Test with:
-```bash
-xcalc
-```
-
-### Gazebo crashes immediately
-
-Use software rendering:
 ```bash
+# Always use software rendering
 export LIBGL_ALWAYS_SOFTWARE=1
-bash scripts/run_simulation.sh
+export GALLIUM_DRIVER=llvmpipe
+bash scripts/run_autonomous.sh --software-render
 ```
 
-### OpenGL errors
-
-```bash
-export MESA_GL_VERSION_OVERRIDE=3.3
-export MESA_GLSL_VERSION_OVERRIDE=330
-```
-
-### VcXsrv connection refused
-
-1. Check Windows Firewall allows VcXsrv
-2. Ensure XLaunch is running
-3. Disable access control in XLaunch settings
-
 ### Slow performance
 
-- Close unnecessary Windows applications
-- Allocate more RAM to WSL in `.wslconfig`:
-```ini
-[wsl2]
-memory=8GB
-processors=4
-```
+- Increase WSL memory (see Performance Tips)
+- Use software rendering
+- Close other applications
 
-- Use software rendering flag
-
-## Environment Variables
-
-The `activate_venv.sh` script sets these automatically:
+### Network issues
 
 ```bash
-export DISPLAY=:0  # or IP:0 for VcXsrv
-export LIBGL_ALWAYS_INDIRECT=0
-export MESA_GL_VERSION_OVERRIDE=3.3
+# If MAVLink connection fails
+# Check Windows firewall allows WSL traffic
 ```
 
-## Uninstall
+## Quick Start Commands
 
 ```bash
-bash scripts/uninstall.sh --all
+# 1. Open Ubuntu terminal
+
+# 2. Navigate to project
+cd ~/sim/uav_ugv_simulation
+
+# 3. Activate environment
+source activate_venv.sh
+
+# 4. Run with software rendering
+bash scripts/run_autonomous.sh --software-render --mission hover
 ```
+
+## Related
+
+- [Setup Guide](setup_guide.md)
+- [Troubleshooting](troubleshooting.md)