Controller Update

scripts/kill_simulation.sh

@@ -2,6 +2,8 @@
 
 echo "Killing all simulation processes..."
 
+pkill -9 -f "gz sim" 2>/dev/null || true
+pkill -9 -f "ruby" 2>/dev/null || true  # gz sim uses ruby
 pkill -9 -f "gazebo" 2>/dev/null || true
 pkill -9 -f "gzserver" 2>/dev/null || true
 pkill -9 -f "gzclient" 2>/dev/null || true
@@ -10,6 +12,8 @@ pkill -9 -f "mavproxy" 2>/dev/null || true
 pkill -9 -f "mavros" 2>/dev/null || true
 pkill -9 -f "ArduCopter" 2>/dev/null || true
 pkill -9 -f "ArduRover" 2>/dev/null || true
+pkill -9 -f "arducopter" 2>/dev/null || true
+pkill -9 -f "autonomous_controller" 2>/dev/null || true
 pkill -9 -f "ros2" 2>/dev/null || true
 
 sleep 1

scripts/run_autonomous.sh

@@ -0,0 +1,122 @@
+#!/bin/bash
+# Autonomous UAV-UGV Simulation Runner
+# Launches Gazebo + ArduPilot SITL + Autonomous Controller
+
+set -e
+
+SCRIPT_DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" && pwd)"
+PROJECT_DIR="$(dirname "$SCRIPT_DIR")"
+
+# Colors
+RED='\033[0;31m'
+GREEN='\033[0;32m'
+YELLOW='\033[1;33m'
+CYAN='\033[0;36m'
+NC='\033[0m'
+
+print_info() { echo -e "${CYAN}[INFO]${NC} $1"; }
+print_success() { echo -e "${GREEN}[SUCCESS]${NC} $1"; }
+print_error() { echo -e "${RED}[ERROR]${NC} $1"; }
+
+# Parse arguments
+SOFTWARE_RENDER=false
+WORLD="iris_runway.sdf"
+MISSION="hover"  # hover, square, circle
+
+while [[ $# -gt 0 ]]; do
+    case $1 in
+        --software-render) SOFTWARE_RENDER=true; shift ;;
+        --world) WORLD="$2"; shift 2 ;;
+        --mission) MISSION="$2"; shift 2 ;;
+        -h|--help)
+            echo "Usage: $0 [options]"
+            echo "  --software-render   Use software rendering (WSL/no GPU)"
+            echo "  --world <file>      World file to load (default: iris_runway.sdf)"
+            echo "  --mission <type>    Mission type: hover, square, circle (default: hover)"
+            exit 0
+            ;;
+        *) shift ;;
+    esac
+done
+
+# Cleanup function
+cleanup() {
+    print_info "Cleaning up..."
+    pkill -f "gz sim" 2>/dev/null || true
+    pkill -f "arducopter" 2>/dev/null || true
+    pkill -f "sim_vehicle.py" 2>/dev/null || true
+    pkill -f "autonomous_controller.py" 2>/dev/null || true
+}
+trap cleanup EXIT
+
+# Setup environment
+export PATH=$PATH:$HOME/ardupilot/Tools/autotest:$HOME/.local/bin
+export GZ_SIM_RESOURCE_PATH=$HOME/ardupilot_gazebo/models:$HOME/ardupilot_gazebo/worlds
+export GZ_SIM_SYSTEM_PLUGIN_PATH=$HOME/ardupilot_gazebo/build
+
+if [ "$SOFTWARE_RENDER" = true ]; then
+    print_info "Using software rendering (Mesa)"
+    export LIBGL_ALWAYS_SOFTWARE=1
+    export GALLIUM_DRIVER=llvmpipe
+fi
+
+# Kill any existing processes
+cleanup 2>/dev/null
+
+print_info "==================================="
+print_info "  Autonomous UAV-UGV Simulation"
+print_info "==================================="
+print_info "World: $WORLD"
+print_info "Mission: $MISSION"
+echo ""
+
+# Step 1: Start Gazebo
+print_info "Starting Gazebo Harmonic..."
+gz sim -v4 -r $HOME/ardupilot_gazebo/worlds/$WORLD &
+GZ_PID=$!
+sleep 5
+
+# Check if Gazebo started
+if ! kill -0 $GZ_PID 2>/dev/null; then
+    print_error "Gazebo failed to start"
+    exit 1
+fi
+print_success "Gazebo running (PID: $GZ_PID)"
+
+# Step 2: Start ArduPilot SITL
+print_info "Starting ArduPilot SITL..."
+cd ~/ardupilot
+sim_vehicle.py -v ArduCopter -f gazebo-iris --model JSON --no-mavproxy -I0 &
+SITL_PID=$!
+sleep 10
+
+# Check if SITL started
+if ! kill -0 $SITL_PID 2>/dev/null; then
+    print_error "ArduPilot SITL failed to start"
+    exit 1
+fi
+print_success "ArduPilot SITL running (PID: $SITL_PID)"
+
+# Step 3: Start the autonomous controller
+print_info "Starting Autonomous Controller..."
+print_info "Mission: $MISSION"
+
+python3 "$PROJECT_DIR/src/autonomous_controller.py" --mission "$MISSION" &
+CTRL_PID=$!
+
+print_success "Autonomous Controller started (PID: $CTRL_PID)"
+print_info ""
+print_info "==================================="
+print_info "  Simulation Running"
+print_info "==================================="
+print_info "The UAV will automatically:"
+print_info "  1. Wait for EKF initialization"
+print_info "  2. Arm and enter GUIDED mode"
+print_info "  3. Take off to 5 meters"
+print_info "  4. Execute mission: $MISSION"
+print_info ""
+print_info "Press Ctrl+C to stop"
+print_info "==================================="
+
+# Wait for controller to finish or user interrupt
+wait $CTRL_PID

scripts/setup_gazebo_nvidia.sh

@@ -0,0 +1,36 @@
+#!/bin/bash
+# Setup script for NVIDIA GPU with Gazebo
+
+set -e
+
+echo "Setting up NVIDIA GPU for Gazebo..."
+
+# Check if NVIDIA GPU is available
+if ! command -v nvidia-smi &> /dev/null; then
+    echo "NVIDIA driver not found. Please install NVIDIA drivers first."
+    exit 1
+fi
+
+nvidia-smi
+
+# Set environment variables for NVIDIA
+export __NV_PRIME_RENDER_OFFLOAD=1
+export __GLX_VENDOR_LIBRARY_NAME=nvidia
+
+# For Gazebo Harmonic
+export LIBGL_ALWAYS_SOFTWARE=0
+
+# Create persistent config
+cat >> ~/.bashrc << 'EOF'
+
+# NVIDIA GPU for Gazebo
+export __NV_PRIME_RENDER_OFFLOAD=1
+export __GLX_VENDOR_LIBRARY_NAME=nvidia
+export LIBGL_ALWAYS_SOFTWARE=0
+EOF
+
+echo ""
+echo "NVIDIA setup complete!"
+echo "Please restart your terminal or run: source ~/.bashrc"
+echo ""
+echo "Test with: glxinfo | grep 'OpenGL renderer'"