WSL Support
This commit is contained in:
@@ -1,53 +1,196 @@
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#!/bin/bash
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set -e
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# Colors
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RED='\033[0;31m'
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GREEN='\033[0;32m'
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YELLOW='\033[1;33m'
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BLUE='\033[0;34m'
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NC='\033[0m'
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SCRIPT_DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" && pwd)"
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PROJECT_DIR="$(dirname "$SCRIPT_DIR")"
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echo "=========================================="
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echo "UAV-UGV Simulation - Run Script"
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echo "GPS-Denied Navigation with Geofencing"
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echo "=========================================="
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echo -e "${BLUE}==========================================${NC}"
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echo -e "${BLUE} UAV-UGV Simulation${NC}"
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echo -e "${BLUE} GPS-Denied Navigation with Geofencing${NC}"
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echo -e "${BLUE}==========================================${NC}"
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echo ""
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WORLD="${1:-$PROJECT_DIR/worlds/empty_custom.world}"
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if [ ! -f "$WORLD" ]; then
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echo "World file not found: $WORLD"
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echo "Using default world..."
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WORLD="$PROJECT_DIR/worlds/empty_custom.world"
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# Detect WSL
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IS_WSL=false
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if grep -qEi "(microsoft|wsl)" /proc/version 2>/dev/null; then
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IS_WSL=true
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echo -e "${YELLOW}Running in WSL environment${NC}"
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fi
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# Detect ROS distro
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ROS_DISTRO=""
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for distro in humble jazzy iron galactic; do
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if [ -d "/opt/ros/$distro" ]; then
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ROS_DISTRO="$distro"
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break
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fi
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done
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if [ -z "$ROS_DISTRO" ]; then
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echo -e "${RED}ERROR: No ROS 2 installation found!${NC}"
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echo "Please install ROS 2 first. See docs/setup_guide.md or docs/wsl_setup_guide.md"
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exit 1
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fi
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echo -e "${GREEN}Using ROS 2: $ROS_DISTRO${NC}"
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# Parse arguments
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WORLD="${1:-$PROJECT_DIR/worlds/empty_custom.world}"
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USE_NVIDIA=true
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HEADLESS=false
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while [[ $# -gt 0 ]]; do
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case $1 in
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--world)
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WORLD="$2"
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shift 2
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;;
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--headless)
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HEADLESS=true
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shift
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;;
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--no-gpu)
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USE_NVIDIA=false
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shift
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;;
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--software-render)
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export LIBGL_ALWAYS_SOFTWARE=1
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shift
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;;
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--help)
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echo "Usage: $0 [OPTIONS] [WORLD_FILE]"
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echo ""
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echo "Options:"
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echo " --world FILE Specify world file (default: empty_custom.world)"
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echo " --headless Run without GUI"
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echo " --no-gpu Disable GPU acceleration"
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echo " --software-render Force software rendering (useful in WSL)"
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echo " --help Show this help"
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echo ""
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echo "Examples:"
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echo " $0 # Default world"
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echo " $0 worlds/indoor_warehouse.world # Indoor environment"
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echo " $0 --software-render # For WSL without GPU"
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exit 0
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;;
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*)
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if [ -f "$1" ]; then
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WORLD="$1"
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fi
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shift
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;;
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esac
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done
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# Validate world file
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if [ ! -f "$WORLD" ]; then
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echo -e "${YELLOW}World file not found: $WORLD${NC}"
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WORLD="$PROJECT_DIR/worlds/empty_custom.world"
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echo "Using default: $WORLD"
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fi
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# Setup environment
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export GAZEBO_MODEL_PATH="$PROJECT_DIR/models:$GAZEBO_MODEL_PATH"
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export GAZEBO_RESOURCE_PATH="$PROJECT_DIR/worlds:$GAZEBO_RESOURCE_PATH"
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if command -v nvidia-smi &> /dev/null; then
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echo "NVIDIA GPU detected, enabling acceleration..."
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export __NV_PRIME_RENDER_OFFLOAD=1
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export __GLX_VENDOR_LIBRARY_NAME=nvidia
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# ArduPilot Gazebo paths
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if [ -d "$HOME/ardupilot_gazebo" ]; then
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export GAZEBO_MODEL_PATH="$HOME/ardupilot_gazebo/models:$GAZEBO_MODEL_PATH"
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export GAZEBO_RESOURCE_PATH="$HOME/ardupilot_gazebo/worlds:$GAZEBO_RESOURCE_PATH"
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fi
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# WSL-specific setup
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if $IS_WSL; then
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# Source WSL environment if exists
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if [ -f "$PROJECT_DIR/wsl_env.sh" ]; then
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source "$PROJECT_DIR/wsl_env.sh"
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fi
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# Check DISPLAY
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if [ -z "$DISPLAY" ]; then
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# Try to set DISPLAY for WSL
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if [ -d "/mnt/wslg" ]; then
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export DISPLAY=:0
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else
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export DISPLAY=$(cat /etc/resolv.conf | grep nameserver | awk '{print $2}'):0
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fi
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fi
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echo -e "${BLUE}DISPLAY set to: $DISPLAY${NC}"
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# Performance hint for WSL
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if [ -z "$LIBGL_ALWAYS_SOFTWARE" ]; then
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echo -e "${YELLOW}TIP: If Gazebo is slow, run with --software-render flag${NC}"
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fi
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fi
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# GPU setup for native Linux
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if $USE_NVIDIA && ! $IS_WSL; then
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if command -v nvidia-smi &> /dev/null; then
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echo -e "${GREEN}NVIDIA GPU detected${NC}"
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export __NV_PRIME_RENDER_OFFLOAD=1
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export __GLX_VENDOR_LIBRARY_NAME=nvidia
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fi
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fi
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# Cleanup function
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cleanup() {
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echo ""
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echo "Shutting down simulation..."
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echo -e "${YELLOW}Shutting down simulation...${NC}"
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pkill -f "gazebo" 2>/dev/null || true
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pkill -f "gzserver" 2>/dev/null || true
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pkill -f "gzclient" 2>/dev/null || true
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pkill -f "sim_vehicle.py" 2>/dev/null || true
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pkill -f "mavros" 2>/dev/null || true
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echo "Cleanup complete."
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pkill -f "ArduCopter" 2>/dev/null || true
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sleep 1
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echo -e "${GREEN}Cleanup complete.${NC}"
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}
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trap cleanup EXIT
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trap cleanup EXIT INT TERM
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echo "Starting simulation with world: $WORLD"
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echo ""
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# Source ROS and workspace
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source /opt/ros/${ROS_DISTRO}/setup.bash
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if [ -f "$PROJECT_DIR/venv/bin/activate" ]; then
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source "$PROJECT_DIR/venv/bin/activate"
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fi
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source /opt/ros/humble/setup.bash 2>/dev/null || true
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if [ -f "$PROJECT_DIR/install/setup.bash" ]; then
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if [ -f "$PROJECT_DIR/../install/setup.bash" ]; then
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source "$PROJECT_DIR/../install/setup.bash"
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elif [ -f "$PROJECT_DIR/install/setup.bash" ]; then
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source "$PROJECT_DIR/install/setup.bash"
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fi
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ros2 launch uav_ugv_simulation full_simulation.launch.py world:="$WORLD"
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echo ""
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echo -e "${GREEN}Starting simulation with world: $(basename $WORLD)${NC}"
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echo ""
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# Launch based on ROS distro and Gazebo version
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if [ "$ROS_DISTRO" = "jazzy" ]; then
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# Jazzy uses Gazebo Harmonic (gz-sim)
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echo -e "${YELLOW}Note: Jazzy uses Gazebo Sim (Harmonic). World files may need conversion.${NC}"
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ros2 launch uav_ugv_simulation full_simulation.launch.py world:="$WORLD" 2>&1 || {
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echo -e "${YELLOW}Launch file failed. Trying direct Gazebo launch...${NC}"
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gz sim "$WORLD"
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}
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else
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# Humble and earlier use Gazebo Classic
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if $HEADLESS; then
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GAZEBO_CMD="gzserver --verbose"
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else
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GAZEBO_CMD="gazebo --verbose"
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fi
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ros2 launch uav_ugv_simulation full_simulation.launch.py world:="$WORLD" 2>&1 || {
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echo -e "${YELLOW}Launch file failed. Trying direct Gazebo launch...${NC}"
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$GAZEBO_CMD "$WORLD"
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}
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fi
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