WSL Support

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 |