WSL Support

2026-02-09 03:49:39 +00:00
parent e8d83f5638
commit 21b298faa2
4 changed files with 743 additions and 101 deletions
--- 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
--- a/scripts/setup_wsl.sh
+++ 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 ""