diff --git a/README.md b/README.md
index 44eb496..da85877 100644
--- a/README.md
+++ b/README.md
@@ -3,20 +3,20 @@
 
 A complete simulation environment for UAV (drone) and UGV (ground vehicle) development using **GPS-denied navigation** with vision-based localization, while maintaining GPS-based geofencing for safety.
 
-## 🎯 Key Feature: GPS-Denied Navigation
+## Key Feature: GPS-Denied Navigation
 
 **Navigation Mode**: All vehicles navigate using **relative positioning** only:
-- ✅ Visual odometry from cameras
-- ✅ Optical flow sensors
-- ✅ IMU integration
-- ✅ Visual landmark tracking
-- ✅ Local coordinate frames
+- Visual odometry from cameras
+- Optical flow sensors
+- IMU integration
+- Visual landmark tracking
+- Local coordinate frames
 
 **GPS Usage**: GPS is ONLY used for:
-- ✅ Geofencing (safety boundaries)
-- ✅ Initial position reference (optional)
-- ❌ NOT used for waypoint navigation
-- ❌ NOT used for position control
+- Geofencing (safety boundaries)
+- Initial position reference (optional)
+- NOT used for waypoint navigation
+- NOT used for position control
 
 This simulates real-world GPS-denied environments like:
 - Indoor spaces
@@ -26,31 +26,41 @@ This simulates real-world GPS-denied environments like:
 
 ## Features
 
-- 🚁 **Iris quadcopter** with dual cameras (forward + downward)
-- 🚗 **Ground vehicle (UGV)** with vision sensors
-- 📷 **Visual odometry** - camera-based position estimation
-- 👁️ **Optical flow** - velocity estimation from downward camera
-- 🗺️ **Landmark navigation** - visual feature tracking
-- 🛡️ **GPS geofencing** - safety boundaries only
-- 🎮 **Single command launch** - everything runs from one script
-- 🖥️ **NVIDIA GPU acceleration** support
-- 🐍 **Python virtual environment** for isolated dependencies
-- 🌍 **GPS-denied worlds** - indoor and urban environments
+- **Iris quadcopter** with dual cameras (forward + downward)
+- **Ground vehicle (UGV)** with vision sensors
+- **Visual odometry** - camera-based position estimation
+- **Optical flow** - velocity estimation from downward camera
+- **Landmark navigation** - visual feature tracking
+- **GPS geofencing** - safety boundaries only
+- **Single command launch** - everything runs from one script
+- **NVIDIA GPU acceleration** support
+- **Python virtual environment** for isolated dependencies
+- **GPS-denied worlds** - indoor and urban environments
 
 ## System Requirements
 
-- Ubuntu 22.04 LTS
-- Python 3.10
-- ROS 2 Humble
+- **Ubuntu 22.04 LTS** (or 24.04 with ROS 2 Jazzy)
+- **Python 3.10+**
+- **ROS 2 Humble** (or Jazzy for Ubuntu 24.04)
 - 8GB RAM minimum (16GB recommended)
 - NVIDIA GPU recommended
 
+### WSL2 Support (Windows)
+
+This project supports **Windows Subsystem for Linux (WSL2)**:
+- Windows 10 (21H2+) or Windows 11
+- WSL2 with Ubuntu 22.04
+- GUI support via WSLg (Windows 11) or VcXsrv (Windows 10)
+- See [WSL Setup Guide](docs/wsl_setup_guide.md) for detailed instructions
+
 ## Quick Start
 
+### Linux (Native)
+
 ```bash
 # 1. Clone repository
 cd ~/ros2_ws/src
-git clone <your-repo-url> uav_ugv_simulation
+git clone https://git.sirblob.co/SirBlob/simulation.git uav_ugv_simulation
 cd uav_ugv_simulation
 
 # 2. Run setup (installs everything)
@@ -64,6 +74,30 @@ source activate_venv.sh
 bash scripts/run_simulation.sh
 ```
 
+### WSL2 (Windows)
+
+```bash
+# 1. Clone repository
+cd ~
+git clone https://git.sirblob.co/SirBlob/simulation.git uav_ugv_simulation
+cd uav_ugv_simulation
+
+# 2. Run WSL-specific setup
+bash scripts/setup_wsl.sh
+
+# 3. Restart terminal
+exit
+# Reopen WSL terminal
+
+# 4. Run simulation
+cd ~/uav_ugv_simulation
+source activate_venv.sh
+bash scripts/run_simulation.sh
+
+# If graphics are slow, use software rendering:
+bash scripts/run_simulation.sh --software-render
+```
+
 ## GPS-Denied Navigation Architecture
 
 ```
@@ -178,7 +212,8 @@ mission_waypoints = [
 
 ## Documentation
 
-- [Setup Guide](docs/setup_guide.md)
+- [Setup Guide](docs/setup_guide.md) - Linux installation
+- [WSL Setup Guide](docs/wsl_setup_guide.md) - Windows WSL2 installation
 - [Usage Guide](docs/usage.md)
 - [Architecture Overview](docs/architecture.md)
 - [GPS-Denied Navigation](docs/gps_denied_navigation.md)
@@ -191,7 +226,7 @@ mission_waypoints = [
 | Position Source | GPS satellites | Visual odometry + sensors |
 | Waypoint Type | GPS coordinates | Relative coordinates (x,y,z) |
 | Reference Frame | Global (lat/lon) | Local (relative to start) |
-| Indoor Capability | ❌ No | ✅ Yes |
+| Indoor Capability | No | Yes |
 | Drift | Minimal | Accumulates over time |
 | Geofencing | GPS-based | GPS-based (safety only) |
 | Use Cases | Outdoor, open sky | Indoor, urban, GPS-jammed |
diff --git a/scripts/run_simulation.sh b/scripts/run_simulation.sh
index b93a4f1..e167978 100755
--- a/scripts/run_simulation.sh
+++ b/scripts/run_simulation.sh
@@ -1,53 +1,196 @@
 #!/bin/bash
 set -e
 
+# Colors
+RED='\033[0;31m'
+GREEN='\033[0;32m'
+YELLOW='\033[1;33m'
+BLUE='\033[0;34m'
+NC='\033[0m'
+
 SCRIPT_DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" && pwd)"
 PROJECT_DIR="$(dirname "$SCRIPT_DIR")"
 
-echo "=========================================="
-echo "UAV-UGV Simulation - Run Script"
-echo "GPS-Denied Navigation with Geofencing"
-echo "=========================================="
+echo -e "${BLUE}==========================================${NC}"
+echo -e "${BLUE}  UAV-UGV Simulation${NC}"
+echo -e "${BLUE}  GPS-Denied Navigation with Geofencing${NC}"
+echo -e "${BLUE}==========================================${NC}"
+echo ""
 
-WORLD="${1:-$PROJECT_DIR/worlds/empty_custom.world}"
-
-if [ ! -f "$WORLD" ]; then
-    echo "World file not found: $WORLD"
-    echo "Using default world..."
-    WORLD="$PROJECT_DIR/worlds/empty_custom.world"
+# Detect WSL
+IS_WSL=false
+if grep -qEi "(microsoft|wsl)" /proc/version 2>/dev/null; then
+    IS_WSL=true
+    echo -e "${YELLOW}Running in WSL environment${NC}"
 fi
 
+# 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
+
+if [ -z "$ROS_DISTRO" ]; then
+    echo -e "${RED}ERROR: No ROS 2 installation found!${NC}"
+    echo "Please install ROS 2 first. See docs/setup_guide.md or docs/wsl_setup_guide.md"
+    exit 1
+fi
+
+echo -e "${GREEN}Using ROS 2: $ROS_DISTRO${NC}"
+
+# Parse arguments
+WORLD="${1:-$PROJECT_DIR/worlds/empty_custom.world}"
+USE_NVIDIA=true
+HEADLESS=false
+
+while [[ $# -gt 0 ]]; do
+    case $1 in
+        --world)
+            WORLD="$2"
+            shift 2
+            ;;
+        --headless)
+            HEADLESS=true
+            shift
+            ;;
+        --no-gpu)
+            USE_NVIDIA=false
+            shift
+            ;;
+        --software-render)
+            export LIBGL_ALWAYS_SOFTWARE=1
+            shift
+            ;;
+        --help)
+            echo "Usage: $0 [OPTIONS] [WORLD_FILE]"
+            echo ""
+            echo "Options:"
+            echo "  --world FILE       Specify world file (default: empty_custom.world)"
+            echo "  --headless         Run without GUI"
+            echo "  --no-gpu           Disable GPU acceleration"
+            echo "  --software-render  Force software rendering (useful in WSL)"
+            echo "  --help             Show this help"
+            echo ""
+            echo "Examples:"
+            echo "  $0                                    # Default world"
+            echo "  $0 worlds/indoor_warehouse.world     # Indoor environment"
+            echo "  $0 --software-render                 # For WSL without GPU"
+            exit 0
+            ;;
+        *)
+            if [ -f "$1" ]; then
+                WORLD="$1"
+            fi
+            shift
+            ;;
+    esac
+done
+
+# Validate world file
+if [ ! -f "$WORLD" ]; then
+    echo -e "${YELLOW}World file not found: $WORLD${NC}"
+    WORLD="$PROJECT_DIR/worlds/empty_custom.world"
+    echo "Using default: $WORLD"
+fi
+
+# Setup environment
 export GAZEBO_MODEL_PATH="$PROJECT_DIR/models:$GAZEBO_MODEL_PATH"
 export GAZEBO_RESOURCE_PATH="$PROJECT_DIR/worlds:$GAZEBO_RESOURCE_PATH"
 
-if command -v nvidia-smi &> /dev/null; then
-    echo "NVIDIA GPU detected, enabling acceleration..."
-    export __NV_PRIME_RENDER_OFFLOAD=1
-    export __GLX_VENDOR_LIBRARY_NAME=nvidia
+# ArduPilot Gazebo paths
+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-specific setup
+if $IS_WSL; then
+    # Source WSL environment if exists
+    if [ -f "$PROJECT_DIR/wsl_env.sh" ]; then
+        source "$PROJECT_DIR/wsl_env.sh"
+    fi
+    
+    # Check DISPLAY
+    if [ -z "$DISPLAY" ]; then
+        # Try to set DISPLAY for WSL
+        if [ -d "/mnt/wslg" ]; then
+            export DISPLAY=:0
+        else
+            export DISPLAY=$(cat /etc/resolv.conf | grep nameserver | awk '{print $2}'):0
+        fi
+    fi
+    
+    echo -e "${BLUE}DISPLAY set to: $DISPLAY${NC}"
+    
+    # Performance hint for WSL
+    if [ -z "$LIBGL_ALWAYS_SOFTWARE" ]; then
+        echo -e "${YELLOW}TIP: If Gazebo is slow, run with --software-render flag${NC}"
+    fi
+fi
+
+# GPU setup for native Linux
+if $USE_NVIDIA && ! $IS_WSL; then
+    if command -v nvidia-smi &> /dev/null; then
+        echo -e "${GREEN}NVIDIA GPU detected${NC}"
+        export __NV_PRIME_RENDER_OFFLOAD=1
+        export __GLX_VENDOR_LIBRARY_NAME=nvidia
+    fi
+fi
+
+# Cleanup function
 cleanup() {
     echo ""
-    echo "Shutting down simulation..."
+    echo -e "${YELLOW}Shutting down simulation...${NC}"
     pkill -f "gazebo" 2>/dev/null || true
+    pkill -f "gzserver" 2>/dev/null || true
+    pkill -f "gzclient" 2>/dev/null || true
     pkill -f "sim_vehicle.py" 2>/dev/null || true
     pkill -f "mavros" 2>/dev/null || true
-    echo "Cleanup complete."
+    pkill -f "ArduCopter" 2>/dev/null || true
+    sleep 1
+    echo -e "${GREEN}Cleanup complete.${NC}"
 }
 
-trap cleanup EXIT
+trap cleanup EXIT INT TERM
 
-echo "Starting simulation with world: $WORLD"
-echo ""
+# Source ROS and workspace
+source /opt/ros/${ROS_DISTRO}/setup.bash
 
 if [ -f "$PROJECT_DIR/venv/bin/activate" ]; then
     source "$PROJECT_DIR/venv/bin/activate"
 fi
 
-source /opt/ros/humble/setup.bash 2>/dev/null || true
-
-if [ -f "$PROJECT_DIR/install/setup.bash" ]; then
+if [ -f "$PROJECT_DIR/../install/setup.bash" ]; then
+    source "$PROJECT_DIR/../install/setup.bash"
+elif [ -f "$PROJECT_DIR/install/setup.bash" ]; then
     source "$PROJECT_DIR/install/setup.bash"
 fi
 
-ros2 launch uav_ugv_simulation full_simulation.launch.py world:="$WORLD"
+echo ""
+echo -e "${GREEN}Starting simulation with world: $(basename $WORLD)${NC}"
+echo ""
+
+# Launch based on ROS distro and Gazebo version
+if [ "$ROS_DISTRO" = "jazzy" ]; then
+    # Jazzy uses Gazebo Harmonic (gz-sim)
+    echo -e "${YELLOW}Note: Jazzy uses Gazebo Sim (Harmonic). World files may need conversion.${NC}"
+    ros2 launch uav_ugv_simulation full_simulation.launch.py world:="$WORLD" 2>&1 || {
+        echo -e "${YELLOW}Launch file failed. Trying direct Gazebo launch...${NC}"
+        gz sim "$WORLD"
+    }
+else
+    # Humble and earlier use Gazebo Classic
+    if $HEADLESS; then
+        GAZEBO_CMD="gzserver --verbose"
+    else
+        GAZEBO_CMD="gazebo --verbose"
+    fi
+    
+    ros2 launch uav_ugv_simulation full_simulation.launch.py world:="$WORLD" 2>&1 || {
+        echo -e "${YELLOW}Launch file failed. Trying direct Gazebo launch...${NC}"
+        $GAZEBO_CMD "$WORLD"
+    }
+fi
diff --git a/scripts/setup_wsl.sh b/scripts/setup_wsl.sh
new file mode 100755
index 0000000..20ae761
--- /dev/null
+++ b/scripts/setup_wsl.sh
@@ -0,0 +1,174 @@
+#!/bin/bash
+# WSL Quick Setup Script
+# This script sets up the simulation environment specifically for WSL2
+
+set -e
+
+RED='\033[0;31m'
+GREEN='\033[0;32m'
+YELLOW='\033[1;33m'
+BLUE='\033[0;34m'
+NC='\033[0m'
+
+echo -e "${BLUE}==========================================${NC}"
+echo -e "${BLUE}  UAV-UGV Simulation - WSL Setup${NC}"
+echo -e "${BLUE}==========================================${NC}"
+echo ""
+
+# Check if running in WSL
+if ! grep -qEi "(microsoft|wsl)" /proc/version 2>/dev/null; then
+    echo -e "${YELLOW}This script is designed for WSL. Running anyway...${NC}"
+fi
+
+SCRIPT_DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" && pwd)"
+PROJECT_DIR="$(dirname "$SCRIPT_DIR")"
+
+# Detect Ubuntu version
+. /etc/os-release
+echo -e "${BLUE}Detected: Ubuntu $VERSION_ID ($VERSION_CODENAME)${NC}"
+
+# Determine ROS distro
+case "$VERSION_ID" in
+    "22.04") ROS_DISTRO="humble" ;;
+    "24.04") ROS_DISTRO="jazzy" ;;
+    *) ROS_DISTRO="humble"; echo -e "${YELLOW}Unknown Ubuntu version, defaulting to Humble${NC}" ;;
+esac
+
+echo -e "${BLUE}Target ROS 2 distro: $ROS_DISTRO${NC}"
+echo ""
+
+# Step 1: Update and install prerequisites
+echo -e "${GREEN}[1/6] Installing prerequisites...${NC}"
+sudo apt-get update
+sudo apt-get install -y \
+    software-properties-common \
+    curl \
+    gnupg \
+    lsb-release \
+    x11-apps \
+    x11-xserver-utils \
+    dbus-x11 \
+    mesa-utils \
+    libgl1-mesa-glx
+
+# Step 2: Add ROS 2 repository
+echo -e "${GREEN}[2/6] Adding ROS 2 repository...${NC}"
+if [ ! -f /usr/share/keyrings/ros-archive-keyring.gpg ]; then
+    sudo curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key \
+        -o /usr/share/keyrings/ros-archive-keyring.gpg
+fi
+
+if [ ! -f /etc/apt/sources.list.d/ros2.list ]; then
+    echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] \
+        http://packages.ros.org/ros2/ubuntu $(lsb_release -cs) main" | \
+        sudo tee /etc/apt/sources.list.d/ros2.list > /dev/null
+fi
+
+sudo apt-get update
+
+# Step 3: Install ROS 2
+echo -e "${GREEN}[3/6] Installing ROS 2 $ROS_DISTRO...${NC}"
+if [ ! -d "/opt/ros/$ROS_DISTRO" ]; then
+    sudo apt-get install -y ros-${ROS_DISTRO}-desktop python3-colcon-common-extensions || {
+        echo -e "${YELLOW}Desktop install failed, trying base...${NC}"
+        sudo apt-get install -y ros-${ROS_DISTRO}-ros-base
+    }
+else
+    echo -e "${BLUE}ROS 2 $ROS_DISTRO already installed${NC}"
+fi
+
+# Step 4: Install ROS packages
+echo -e "${GREEN}[4/6] Installing ROS 2 packages...${NC}"
+sudo apt-get install -y \
+    ros-${ROS_DISTRO}-mavros \
+    ros-${ROS_DISTRO}-mavros-extras \
+    ros-${ROS_DISTRO}-cv-bridge \
+    ros-${ROS_DISTRO}-image-transport \
+    ros-${ROS_DISTRO}-tf2-ros 2>/dev/null || {
+    echo -e "${YELLOW}Some packages unavailable for $ROS_DISTRO${NC}"
+}
+
+# Gazebo (different for Humble vs Jazzy)
+if [ "$ROS_DISTRO" = "humble" ]; then
+    sudo apt-get install -y ros-humble-gazebo-ros-pkgs 2>/dev/null || true
+elif [ "$ROS_DISTRO" = "jazzy" ]; then
+    sudo apt-get install -y ros-jazzy-ros-gz 2>/dev/null || true
+fi
+
+# GeographicLib datasets
+echo -e "${GREEN}[5/6] Installing GeographicLib datasets...${NC}"
+GEOGRAPHICLIB_SCRIPT="/opt/ros/${ROS_DISTRO}/lib/mavros/install_geographiclib_datasets.sh"
+if [ -f "$GEOGRAPHICLIB_SCRIPT" ] && [ ! -f /usr/share/GeographicLib/geoids/egm96-5.pgm ]; then
+    sudo "$GEOGRAPHICLIB_SCRIPT" || echo -e "${YELLOW}GeographicLib install failed${NC}"
+fi
+
+# Step 5: Setup Python environment
+echo -e "${GREEN}[6/6] Setting up Python environment...${NC}"
+cd "$PROJECT_DIR"
+
+sudo apt-get install -y python3-pip python3-venv python3-opencv libopencv-dev
+
+if [ ! -d "venv" ]; then
+    python3 -m venv venv
+fi
+
+source venv/bin/activate
+pip install --upgrade pip
+pip install -r requirements.txt 2>/dev/null || echo -e "${YELLOW}Some pip packages failed${NC}"
+
+# Create WSL environment file
+cat > "$PROJECT_DIR/wsl_env.sh" << 'EOF'
+#!/bin/bash
+# WSL Environment Setup
+
+# DISPLAY configuration
+if [ -d "/mnt/wslg" ]; then
+    # WSLg (Windows 11)
+    export DISPLAY=:0
+else
+    # X server (Windows 10)
+    export DISPLAY=$(cat /etc/resolv.conf | grep nameserver | awk '{print $2}'):0
+fi
+
+# OpenGL settings for WSL
+export LIBGL_ALWAYS_INDIRECT=0
+export MESA_GL_VERSION_OVERRIDE=3.3
+
+# Uncomment for software rendering if GPU issues:
+# export LIBGL_ALWAYS_SOFTWARE=1
+
+# Gazebo performance
+export OGRE_RTT_MODE=Copy
+EOF
+chmod +x "$PROJECT_DIR/wsl_env.sh"
+
+# Add to bashrc
+if ! grep -q "wsl_env.sh" ~/.bashrc 2>/dev/null; then
+    echo "" >> ~/.bashrc
+    echo "# UAV-UGV Simulation WSL environment" >> ~/.bashrc
+    echo "[ -f \"$PROJECT_DIR/wsl_env.sh\" ] && source \"$PROJECT_DIR/wsl_env.sh\"" >> ~/.bashrc
+    echo "[ -f /opt/ros/${ROS_DISTRO}/setup.bash ] && source /opt/ros/${ROS_DISTRO}/setup.bash" >> ~/.bashrc
+fi
+
+# Make scripts executable
+chmod +x "$PROJECT_DIR/scripts/"*.sh 2>/dev/null || true
+chmod +x "$PROJECT_DIR/setup.sh" 2>/dev/null || true
+chmod +x "$PROJECT_DIR/activate_venv.sh" 2>/dev/null || true
+
+echo ""
+echo -e "${GREEN}==========================================${NC}"
+echo -e "${GREEN}  WSL Setup Complete!${NC}"
+echo -e "${GREEN}==========================================${NC}"
+echo ""
+echo -e "${BLUE}Next steps:${NC}"
+echo "  1. Close and reopen your terminal (or run: source ~/.bashrc)"
+echo "  2. Test GUI: xcalc (should open calculator)"
+echo "  3. Test Gazebo: gazebo --verbose"
+echo "  4. Run simulation: source activate_venv.sh && bash scripts/run_simulation.sh"
+echo ""
+echo -e "${YELLOW}WSL Tips:${NC}"
+echo "  - Windows 11: GUI works out of the box (WSLg)"
+echo "  - Windows 10: Install VcXsrv and run XLaunch first"
+echo "  - Slow graphics? Run with: bash scripts/run_simulation.sh --software-render"
+echo "  - See docs/wsl_setup_guide.md for detailed help"
+echo ""
diff --git a/setup.sh b/setup.sh
index cbae3b3..2225717 100755
--- a/setup.sh
+++ b/setup.sh
@@ -1,93 +1,383 @@
 #!/bin/bash
 set -e
 
-echo "=========================================="
-echo "UAV-UGV Simulation Setup"
-echo "Ubuntu 22.04 + Python 3.10 + ROS 2 Humble"
-echo "GPS-Denied Navigation with Geofencing"
-echo "=========================================="
-echo ""
+# Colors for output
+RED='\033[0;31m'
+GREEN='\033[0;32m'
+YELLOW='\033[1;33m'
+BLUE='\033[0;34m'
+NC='\033[0m' # No Color
+
+print_header() {
+    echo -e "${BLUE}==========================================${NC}"
+    echo -e "${BLUE}  UAV-UGV Simulation Setup${NC}"
+    echo -e "${BLUE}  GPS-Denied Navigation with Geofencing${NC}"
+    echo -e "${BLUE}==========================================${NC}"
+    echo ""
+}
+
+print_step() {
+    echo -e "${GREEN}[$1/$TOTAL_STEPS] $2${NC}"
+}
+
+print_warning() {
+    echo -e "${YELLOW}WARNING: $1${NC}"
+}
+
+print_error() {
+    echo -e "${RED}ERROR: $1${NC}"
+}
+
+print_info() {
+    echo -e "${BLUE}INFO: $1${NC}"
+}
+
+# Detect environment
+detect_environment() {
+    IS_WSL=false
+    IS_WSL2=false
+    UBUNTU_VERSION=""
+    ROS_DISTRO=""
+    
+    # Detect WSL
+    if grep -qEi "(microsoft|wsl)" /proc/version 2>/dev/null; then
+        IS_WSL=true
+        if grep -qi "wsl2" /proc/version 2>/dev/null || [ -f /run/WSL ]; then
+            IS_WSL2=true
+        fi
+    fi
+    
+    # Detect Ubuntu version
+    if [ -f /etc/os-release ]; then
+        . /etc/os-release
+        UBUNTU_VERSION="$VERSION_ID"
+        UBUNTU_CODENAME="$VERSION_CODENAME"
+    fi
+    
+    # Determine ROS distro based on Ubuntu version
+    case "$UBUNTU_VERSION" in
+        "22.04")
+            ROS_DISTRO="humble"
+            ;;
+        "24.04")
+            ROS_DISTRO="jazzy"
+            ;;
+        "20.04")
+            ROS_DISTRO="galactic"
+            ;;
+        *)
+            ROS_DISTRO="humble"  # Default fallback
+            ;;
+    esac
+    
+    echo -e "${BLUE}Detected Environment:${NC}"
+    echo "  - Ubuntu: $UBUNTU_VERSION ($UBUNTU_CODENAME)"
+    echo "  - WSL: $IS_WSL"
+    echo "  - WSL2: $IS_WSL2"
+    echo "  - ROS 2 Distro: $ROS_DISTRO"
+    echo ""
+}
+
+# Check if ROS 2 is installed
+check_ros2_installed() {
+    if [ -d "/opt/ros/$ROS_DISTRO" ]; then
+        return 0
+    else
+        return 1
+    fi
+}
+
+# Install ROS 2 repository
+install_ros2_repo() {
+    print_info "Setting up ROS 2 repository..."
+    
+    sudo apt-get install -y software-properties-common curl gnupg lsb-release
+    
+    # Add ROS 2 GPG key
+    sudo curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key \
+        -o /usr/share/keyrings/ros-archive-keyring.gpg
+    
+    # Add repository
+    echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] \
+        http://packages.ros.org/ros2/ubuntu $(lsb_release -cs) main" | \
+        sudo tee /etc/apt/sources.list.d/ros2.list > /dev/null
+    
+    sudo apt-get update
+}
+
+# Setup WSL-specific configurations
+setup_wsl() {
+    print_info "Configuring WSL-specific settings..."
+    
+    # Create WSL environment setup
+    WSL_ENV_FILE="$SCRIPT_DIR/wsl_env.sh"
+    
+    cat > "$WSL_ENV_FILE" << 'WSLEOF'
+#!/bin/bash
+# WSL-specific environment variables
+
+# Detect WSL version and set DISPLAY
+if grep -qi "wsl2" /proc/version 2>/dev/null || [ -f /run/WSL ]; then
+    # WSL2 with WSLg (Windows 11)
+    if [ -d "/mnt/wslg" ]; then
+        export DISPLAY=:0
+    else
+        # WSL2 without WSLg (Windows 10) - use X server
+        export DISPLAY=$(cat /etc/resolv.conf | grep nameserver | awk '{print $2}'):0
+    fi
+else
+    # WSL1
+    export DISPLAY=localhost:0
+fi
+
+# Performance settings for Gazebo in WSL
+export LIBGL_ALWAYS_INDIRECT=0
+
+# If GPU acceleration isn't working, uncomment this:
+# export LIBGL_ALWAYS_SOFTWARE=1
+
+# Mesa driver settings (helps with some rendering issues)
+export MESA_GL_VERSION_OVERRIDE=3.3
+export MESA_GLSL_VERSION_OVERRIDE=330
+
+# Gazebo specific
+export OGRE_RTT_MODE=Copy
+WSLEOF
+
+    chmod +x "$WSL_ENV_FILE"
+    
+    # Add to bashrc if not already present
+    if ! grep -q "wsl_env.sh" ~/.bashrc 2>/dev/null; then
+        echo "" >> ~/.bashrc
+        echo "# WSL environment for UAV-UGV simulation" >> ~/.bashrc
+        echo "if [ -f \"$WSL_ENV_FILE\" ]; then source \"$WSL_ENV_FILE\"; fi" >> ~/.bashrc
+    fi
+    
+    print_info "WSL environment configured. Source ~/.bashrc to apply."
+}
+
+# Setup X11 for GUI applications
+setup_x11_wsl() {
+    print_info "Installing X11 utilities for GUI support..."
+    
+    sudo apt-get install -y \
+        x11-apps \
+        x11-xserver-utils \
+        dbus-x11 \
+        libgl1-mesa-glx \
+        mesa-utils 2>/dev/null || true
+}
+
+# Main setup
+print_header
 
 SCRIPT_DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" && pwd)"
 cd "$SCRIPT_DIR"
 
-echo "[1/7] Updating system packages..."
-sudo apt-get update
+# Detect environment
+detect_environment
 
-echo "[2/7] Installing system dependencies..."
+# Determine total steps based on what's needed
+if check_ros2_installed; then
+    TOTAL_STEPS=7
+else
+    TOTAL_STEPS=9
+    print_warning "ROS 2 $ROS_DISTRO not found. Will attempt to install."
+fi
+
+if $IS_WSL; then
+    TOTAL_STEPS=$((TOTAL_STEPS + 1))
+fi
+
+STEP=1
+
+# Step: Update system
+print_step $STEP "Updating system packages..."
+sudo apt-get update
+((STEP++))
+
+# Step: WSL-specific setup
+if $IS_WSL; then
+    print_step $STEP "Setting up WSL environment..."
+    setup_wsl
+    setup_x11_wsl
+    ((STEP++))
+fi
+
+# Step: Install ROS 2 if not present
+if ! check_ros2_installed; then
+    print_step $STEP "Installing ROS 2 repository..."
+    install_ros2_repo
+    ((STEP++))
+    
+    print_step $STEP "Installing ROS 2 $ROS_DISTRO..."
+    sudo apt-get install -y ros-${ROS_DISTRO}-desktop || {
+        print_warning "Failed to install ros-${ROS_DISTRO}-desktop, trying base..."
+        sudo apt-get install -y ros-${ROS_DISTRO}-ros-base
+    }
+    ((STEP++))
+fi
+
+# Step: Install system dependencies
+print_step $STEP "Installing system dependencies..."
 sudo apt-get install -y \
     python3-pip \
     python3-venv \
     python3-opencv \
     libopencv-dev \
-    ros-humble-mavros \
-    ros-humble-mavros-extras \
-    ros-humble-cv-bridge \
-    ros-humble-image-transport \
-    ros-humble-gazebo-ros-pkgs \
-    ros-humble-tf2 \
-    ros-humble-tf2-ros \
-    ros-humble-tf2-geometry-msgs
+    python3-colcon-common-extensions \
+    build-essential \
+    cmake \
+    git || true
+((STEP++))
 
-echo "[3/7] Installing MAVROS GeographicLib datasets..."
-if [ ! -f /usr/share/GeographicLib/geoids/egm96-5.pgm ]; then
-    sudo /opt/ros/humble/lib/mavros/install_geographiclib_datasets.sh || true
+# Step: Install ROS 2 packages
+print_step $STEP "Installing ROS 2 packages..."
+ROS_PACKAGES=(
+    "ros-${ROS_DISTRO}-mavros"
+    "ros-${ROS_DISTRO}-mavros-extras"
+    "ros-${ROS_DISTRO}-cv-bridge"
+    "ros-${ROS_DISTRO}-image-transport"
+    "ros-${ROS_DISTRO}-tf2"
+    "ros-${ROS_DISTRO}-tf2-ros"
+    "ros-${ROS_DISTRO}-tf2-geometry-msgs"
+)
+
+# Gazebo packages differ by distro
+if [ "$ROS_DISTRO" = "humble" ]; then
+    ROS_PACKAGES+=("ros-${ROS_DISTRO}-gazebo-ros-pkgs")
+elif [ "$ROS_DISTRO" = "jazzy" ]; then
+    # Jazzy uses Gazebo Harmonic (gz-sim)
+    ROS_PACKAGES+=("ros-${ROS_DISTRO}-ros-gz")
 fi
 
-echo "[4/7] Creating Python virtual environment..."
+# Install available packages (some may not exist for all distros)
+for pkg in "${ROS_PACKAGES[@]}"; do
+    sudo apt-get install -y "$pkg" 2>/dev/null || {
+        print_warning "Package $pkg not available, skipping..."
+    }
+done
+((STEP++))
+
+# Step: Install MAVROS GeographicLib datasets
+print_step $STEP "Installing MAVROS GeographicLib datasets..."
+GEOGRAPHICLIB_SCRIPT="/opt/ros/${ROS_DISTRO}/lib/mavros/install_geographiclib_datasets.sh"
+if [ -f "$GEOGRAPHICLIB_SCRIPT" ]; then
+    if [ ! -f /usr/share/GeographicLib/geoids/egm96-5.pgm ]; then
+        sudo "$GEOGRAPHICLIB_SCRIPT" || print_warning "GeographicLib datasets installation failed"
+    else
+        print_info "GeographicLib datasets already installed"
+    fi
+else
+    print_warning "MAVROS not installed, skipping GeographicLib datasets"
+fi
+((STEP++))
+
+# Step: Create Python virtual environment
+print_step $STEP "Creating Python virtual environment..."
 if [ ! -d "venv" ]; then
     python3 -m venv venv
 fi
 source venv/bin/activate
 
-echo "[5/7] Installing Python dependencies..."
+# Upgrade pip and install dependencies
 pip install --upgrade pip
-pip install -r requirements.txt
+pip install -r requirements.txt || {
+    print_warning "Some Python packages failed to install. Check requirements.txt"
+}
+((STEP++))
 
-echo "[6/7] Building ROS 2 package..."
-source /opt/ros/humble/setup.bash
-
-cd ..
-if [ -d "$(dirname "$SCRIPT_DIR")/src" ]; then
-    cd "$(dirname "$SCRIPT_DIR")"
+# Step: Build ROS 2 package
+print_step $STEP "Building ROS 2 package..."
+if [ -f "/opt/ros/${ROS_DISTRO}/setup.bash" ]; then
+    source /opt/ros/${ROS_DISTRO}/setup.bash
+    
+    # Try to build if in a ROS workspace
+    if [ -d "$SCRIPT_DIR/../src" ] || [ -f "$SCRIPT_DIR/package.xml" ]; then
+        cd "$SCRIPT_DIR/.."
+        colcon build --packages-select uav_ugv_simulation --symlink-install 2>/dev/null || {
+            print_warning "Colcon build skipped. To build manually:"
+            print_info "  cd ~/ros2_ws && colcon build --packages-select uav_ugv_simulation"
+        }
+        cd "$SCRIPT_DIR"
+    fi
+else
+    print_warning "ROS 2 not found, skipping package build"
 fi
+((STEP++))
 
-if [ -f "$SCRIPT_DIR/package.xml" ]; then
-    colcon build --packages-select uav_ugv_simulation --symlink-install 2>/dev/null || \
-    echo "Colcon build skipped - run from ROS workspace"
-fi
+# Step: Make scripts executable and create activation script
+print_step $STEP "Finalizing setup..."
+chmod +x scripts/*.sh 2>/dev/null || true
 
-cd "$SCRIPT_DIR"
-
-echo "[7/7] Making scripts executable..."
-chmod +x scripts/*.sh
-
-cat > activate_venv.sh << 'EOF'
+# Create activation script
+cat > activate_venv.sh << EOF
 #!/bin/bash
-SCRIPT_DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" && pwd)"
-source "$SCRIPT_DIR/venv/bin/activate"
-source /opt/ros/humble/setup.bash
-if [ -f "$SCRIPT_DIR/install/setup.bash" ]; then
-    source "$SCRIPT_DIR/install/setup.bash"
+SCRIPT_DIR="\$(cd "\$(dirname "\${BASH_SOURCE[0]}")" && pwd)"
+
+# Activate Python virtual environment
+source "\$SCRIPT_DIR/venv/bin/activate"
+
+# Source ROS 2
+if [ -f "/opt/ros/${ROS_DISTRO}/setup.bash" ]; then
+    source /opt/ros/${ROS_DISTRO}/setup.bash
 fi
-export GAZEBO_MODEL_PATH="$SCRIPT_DIR/models:$GAZEBO_MODEL_PATH"
-export GAZEBO_RESOURCE_PATH="$SCRIPT_DIR/worlds:$GAZEBO_RESOURCE_PATH"
-echo "Environment activated."
+
+# Source 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"
+fi
+
+# Gazebo 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)
+if [ -f "\$SCRIPT_DIR/wsl_env.sh" ]; then
+    source "\$SCRIPT_DIR/wsl_env.sh"
+fi
+
+echo -e "\033[0;32mEnvironment activated (ROS 2 ${ROS_DISTRO})\033[0m"
 echo "Run: bash scripts/run_simulation.sh"
 EOF
 chmod +x activate_venv.sh
 
+# Summary
 echo ""
-echo "=========================================="
-echo "Setup Complete!"
-echo "=========================================="
+echo -e "${GREEN}==========================================${NC}"
+echo -e "${GREEN}  Setup Complete!${NC}"
+echo -e "${GREEN}==========================================${NC}"
 echo ""
-echo "Next steps:"
+
+if $IS_WSL; then
+    echo -e "${YELLOW}WSL Setup Notes:${NC}"
+    echo "  - WSL environment file created: wsl_env.sh"
+    echo "  - For GUI apps, ensure X server is running (Windows 11 has WSLg built-in)"
+    echo "  - See docs/wsl_setup_guide.md for detailed instructions"
+    echo ""
+fi
+
+echo -e "${BLUE}Next steps:${NC}"
 echo "  1. source ~/.bashrc"
 echo "  2. source activate_venv.sh"
 echo "  3. bash scripts/run_simulation.sh"
 echo ""
-echo "GPS-Denied Navigation:"
+echo -e "${BLUE}GPS-Denied Navigation:${NC}"
 echo "  - All navigation uses LOCAL coordinates"
 echo "  - GPS is ONLY used for geofencing"
 echo ""
+
+if ! check_ros2_installed && [ ! -f "/opt/ros/${ROS_DISTRO}/setup.bash" ]; then
+    echo -e "${YELLOW}IMPORTANT:${NC}"
+    echo "  ROS 2 installation may have failed. Please install manually:"
+    echo "  See: https://docs.ros.org/en/${ROS_DISTRO}/Installation.html"
+    echo ""
+fi