WSL Support
This commit is contained in:
394
setup.sh
394
setup.sh
@@ -1,93 +1,383 @@
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#!/bin/bash
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set -e
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echo "=========================================="
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echo "UAV-UGV Simulation Setup"
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echo "Ubuntu 22.04 + Python 3.10 + ROS 2 Humble"
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echo "GPS-Denied Navigation with Geofencing"
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echo "=========================================="
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echo ""
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# Colors for output
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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' # No Color
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print_header() {
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echo -e "${BLUE}==========================================${NC}"
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echo -e "${BLUE} UAV-UGV Simulation Setup${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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}
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print_step() {
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echo -e "${GREEN}[$1/$TOTAL_STEPS] $2${NC}"
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}
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print_warning() {
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echo -e "${YELLOW}WARNING: $1${NC}"
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}
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print_error() {
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echo -e "${RED}ERROR: $1${NC}"
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}
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print_info() {
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echo -e "${BLUE}INFO: $1${NC}"
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}
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# Detect environment
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detect_environment() {
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IS_WSL=false
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IS_WSL2=false
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UBUNTU_VERSION=""
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ROS_DISTRO=""
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# Detect WSL
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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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if grep -qi "wsl2" /proc/version 2>/dev/null || [ -f /run/WSL ]; then
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IS_WSL2=true
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fi
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fi
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# Detect Ubuntu version
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if [ -f /etc/os-release ]; then
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. /etc/os-release
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UBUNTU_VERSION="$VERSION_ID"
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UBUNTU_CODENAME="$VERSION_CODENAME"
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fi
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# Determine ROS distro based on Ubuntu version
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case "$UBUNTU_VERSION" in
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"22.04")
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ROS_DISTRO="humble"
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;;
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"24.04")
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ROS_DISTRO="jazzy"
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;;
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"20.04")
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ROS_DISTRO="galactic"
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;;
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*)
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ROS_DISTRO="humble" # Default fallback
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;;
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esac
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echo -e "${BLUE}Detected Environment:${NC}"
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echo " - Ubuntu: $UBUNTU_VERSION ($UBUNTU_CODENAME)"
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echo " - WSL: $IS_WSL"
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echo " - WSL2: $IS_WSL2"
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echo " - ROS 2 Distro: $ROS_DISTRO"
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echo ""
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}
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# Check if ROS 2 is installed
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check_ros2_installed() {
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if [ -d "/opt/ros/$ROS_DISTRO" ]; then
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return 0
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else
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return 1
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fi
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}
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# Install ROS 2 repository
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install_ros2_repo() {
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print_info "Setting up ROS 2 repository..."
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sudo apt-get install -y software-properties-common curl gnupg lsb-release
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# Add ROS 2 GPG key
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sudo curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key \
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-o /usr/share/keyrings/ros-archive-keyring.gpg
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# Add repository
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echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] \
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http://packages.ros.org/ros2/ubuntu $(lsb_release -cs) main" | \
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sudo tee /etc/apt/sources.list.d/ros2.list > /dev/null
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sudo apt-get update
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}
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# Setup WSL-specific configurations
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setup_wsl() {
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print_info "Configuring WSL-specific settings..."
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# Create WSL environment setup
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WSL_ENV_FILE="$SCRIPT_DIR/wsl_env.sh"
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cat > "$WSL_ENV_FILE" << 'WSLEOF'
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#!/bin/bash
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# WSL-specific environment variables
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# Detect WSL version and set DISPLAY
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if grep -qi "wsl2" /proc/version 2>/dev/null || [ -f /run/WSL ]; then
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# WSL2 with WSLg (Windows 11)
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if [ -d "/mnt/wslg" ]; then
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export DISPLAY=:0
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else
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# WSL2 without WSLg (Windows 10) - use X server
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export DISPLAY=$(cat /etc/resolv.conf | grep nameserver | awk '{print $2}'):0
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fi
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else
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# WSL1
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export DISPLAY=localhost:0
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fi
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# Performance settings for Gazebo in WSL
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export LIBGL_ALWAYS_INDIRECT=0
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# If GPU acceleration isn't working, uncomment this:
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# export LIBGL_ALWAYS_SOFTWARE=1
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# Mesa driver settings (helps with some rendering issues)
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export MESA_GL_VERSION_OVERRIDE=3.3
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export MESA_GLSL_VERSION_OVERRIDE=330
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# Gazebo specific
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export OGRE_RTT_MODE=Copy
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WSLEOF
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chmod +x "$WSL_ENV_FILE"
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# Add to bashrc if not already present
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if ! grep -q "wsl_env.sh" ~/.bashrc 2>/dev/null; then
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echo "" >> ~/.bashrc
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echo "# WSL environment for UAV-UGV simulation" >> ~/.bashrc
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echo "if [ -f \"$WSL_ENV_FILE\" ]; then source \"$WSL_ENV_FILE\"; fi" >> ~/.bashrc
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fi
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print_info "WSL environment configured. Source ~/.bashrc to apply."
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}
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# Setup X11 for GUI applications
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setup_x11_wsl() {
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print_info "Installing X11 utilities for GUI support..."
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sudo apt-get install -y \
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x11-apps \
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x11-xserver-utils \
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dbus-x11 \
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libgl1-mesa-glx \
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mesa-utils 2>/dev/null || true
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}
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# Main setup
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print_header
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SCRIPT_DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" && pwd)"
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cd "$SCRIPT_DIR"
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echo "[1/7] Updating system packages..."
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sudo apt-get update
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# Detect environment
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detect_environment
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echo "[2/7] Installing system dependencies..."
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# Determine total steps based on what's needed
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if check_ros2_installed; then
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TOTAL_STEPS=7
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else
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TOTAL_STEPS=9
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print_warning "ROS 2 $ROS_DISTRO not found. Will attempt to install."
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fi
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if $IS_WSL; then
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TOTAL_STEPS=$((TOTAL_STEPS + 1))
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fi
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STEP=1
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# Step: Update system
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print_step $STEP "Updating system packages..."
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sudo apt-get update
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((STEP++))
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# Step: WSL-specific setup
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if $IS_WSL; then
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print_step $STEP "Setting up WSL environment..."
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setup_wsl
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setup_x11_wsl
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((STEP++))
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fi
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# Step: Install ROS 2 if not present
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if ! check_ros2_installed; then
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print_step $STEP "Installing ROS 2 repository..."
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install_ros2_repo
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((STEP++))
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print_step $STEP "Installing ROS 2 $ROS_DISTRO..."
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sudo apt-get install -y ros-${ROS_DISTRO}-desktop || {
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print_warning "Failed to install ros-${ROS_DISTRO}-desktop, trying base..."
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sudo apt-get install -y ros-${ROS_DISTRO}-ros-base
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}
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((STEP++))
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fi
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# Step: Install system dependencies
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print_step $STEP "Installing system dependencies..."
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sudo apt-get install -y \
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python3-pip \
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python3-venv \
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python3-opencv \
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libopencv-dev \
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ros-humble-mavros \
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ros-humble-mavros-extras \
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ros-humble-cv-bridge \
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ros-humble-image-transport \
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ros-humble-gazebo-ros-pkgs \
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ros-humble-tf2 \
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ros-humble-tf2-ros \
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ros-humble-tf2-geometry-msgs
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python3-colcon-common-extensions \
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build-essential \
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cmake \
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git || true
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((STEP++))
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echo "[3/7] Installing MAVROS GeographicLib datasets..."
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if [ ! -f /usr/share/GeographicLib/geoids/egm96-5.pgm ]; then
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sudo /opt/ros/humble/lib/mavros/install_geographiclib_datasets.sh || true
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# Step: Install ROS 2 packages
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print_step $STEP "Installing ROS 2 packages..."
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ROS_PACKAGES=(
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"ros-${ROS_DISTRO}-mavros"
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"ros-${ROS_DISTRO}-mavros-extras"
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"ros-${ROS_DISTRO}-cv-bridge"
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"ros-${ROS_DISTRO}-image-transport"
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"ros-${ROS_DISTRO}-tf2"
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"ros-${ROS_DISTRO}-tf2-ros"
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"ros-${ROS_DISTRO}-tf2-geometry-msgs"
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)
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# Gazebo packages differ by distro
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if [ "$ROS_DISTRO" = "humble" ]; then
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ROS_PACKAGES+=("ros-${ROS_DISTRO}-gazebo-ros-pkgs")
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elif [ "$ROS_DISTRO" = "jazzy" ]; then
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# Jazzy uses Gazebo Harmonic (gz-sim)
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ROS_PACKAGES+=("ros-${ROS_DISTRO}-ros-gz")
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fi
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echo "[4/7] Creating Python virtual environment..."
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# Install available packages (some may not exist for all distros)
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for pkg in "${ROS_PACKAGES[@]}"; do
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sudo apt-get install -y "$pkg" 2>/dev/null || {
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print_warning "Package $pkg not available, skipping..."
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}
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done
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((STEP++))
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# Step: Install MAVROS GeographicLib datasets
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print_step $STEP "Installing MAVROS GeographicLib datasets..."
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GEOGRAPHICLIB_SCRIPT="/opt/ros/${ROS_DISTRO}/lib/mavros/install_geographiclib_datasets.sh"
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if [ -f "$GEOGRAPHICLIB_SCRIPT" ]; then
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if [ ! -f /usr/share/GeographicLib/geoids/egm96-5.pgm ]; then
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sudo "$GEOGRAPHICLIB_SCRIPT" || print_warning "GeographicLib datasets installation failed"
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else
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print_info "GeographicLib datasets already installed"
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fi
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else
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print_warning "MAVROS not installed, skipping GeographicLib datasets"
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fi
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((STEP++))
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# Step: Create Python virtual environment
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print_step $STEP "Creating Python virtual environment..."
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if [ ! -d "venv" ]; then
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python3 -m venv venv
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fi
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source venv/bin/activate
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echo "[5/7] Installing Python dependencies..."
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# Upgrade pip and install dependencies
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pip install --upgrade pip
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pip install -r requirements.txt
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pip install -r requirements.txt || {
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print_warning "Some Python packages failed to install. Check requirements.txt"
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}
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((STEP++))
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echo "[6/7] Building ROS 2 package..."
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source /opt/ros/humble/setup.bash
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cd ..
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if [ -d "$(dirname "$SCRIPT_DIR")/src" ]; then
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cd "$(dirname "$SCRIPT_DIR")"
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# Step: Build ROS 2 package
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print_step $STEP "Building ROS 2 package..."
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if [ -f "/opt/ros/${ROS_DISTRO}/setup.bash" ]; then
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source /opt/ros/${ROS_DISTRO}/setup.bash
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# Try to build if in a ROS workspace
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if [ -d "$SCRIPT_DIR/../src" ] || [ -f "$SCRIPT_DIR/package.xml" ]; then
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cd "$SCRIPT_DIR/.."
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colcon build --packages-select uav_ugv_simulation --symlink-install 2>/dev/null || {
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print_warning "Colcon build skipped. To build manually:"
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print_info " cd ~/ros2_ws && colcon build --packages-select uav_ugv_simulation"
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}
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cd "$SCRIPT_DIR"
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fi
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else
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print_warning "ROS 2 not found, skipping package build"
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fi
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((STEP++))
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if [ -f "$SCRIPT_DIR/package.xml" ]; then
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colcon build --packages-select uav_ugv_simulation --symlink-install 2>/dev/null || \
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echo "Colcon build skipped - run from ROS workspace"
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fi
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# Step: Make scripts executable and create activation script
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print_step $STEP "Finalizing setup..."
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chmod +x scripts/*.sh 2>/dev/null || true
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cd "$SCRIPT_DIR"
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echo "[7/7] Making scripts executable..."
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chmod +x scripts/*.sh
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cat > activate_venv.sh << 'EOF'
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# Create activation script
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cat > activate_venv.sh << EOF
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#!/bin/bash
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SCRIPT_DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" && pwd)"
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source "$SCRIPT_DIR/venv/bin/activate"
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source /opt/ros/humble/setup.bash
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if [ -f "$SCRIPT_DIR/install/setup.bash" ]; then
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source "$SCRIPT_DIR/install/setup.bash"
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SCRIPT_DIR="\$(cd "\$(dirname "\${BASH_SOURCE[0]}")" && pwd)"
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# Activate Python virtual environment
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source "\$SCRIPT_DIR/venv/bin/activate"
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# Source ROS 2
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if [ -f "/opt/ros/${ROS_DISTRO}/setup.bash" ]; then
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source /opt/ros/${ROS_DISTRO}/setup.bash
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fi
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export GAZEBO_MODEL_PATH="$SCRIPT_DIR/models:$GAZEBO_MODEL_PATH"
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export GAZEBO_RESOURCE_PATH="$SCRIPT_DIR/worlds:$GAZEBO_RESOURCE_PATH"
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echo "Environment activated."
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# Source workspace if built
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if [ -f "\$SCRIPT_DIR/../install/setup.bash" ]; then
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source "\$SCRIPT_DIR/../install/setup.bash"
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elif [ -f "\$SCRIPT_DIR/install/setup.bash" ]; then
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source "\$SCRIPT_DIR/install/setup.bash"
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fi
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# Gazebo paths
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export GAZEBO_MODEL_PATH="\$SCRIPT_DIR/models:\$GAZEBO_MODEL_PATH"
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export GAZEBO_RESOURCE_PATH="\$SCRIPT_DIR/worlds:\$GAZEBO_RESOURCE_PATH"
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# ArduPilot Gazebo (if installed)
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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 environment (if applicable)
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if [ -f "\$SCRIPT_DIR/wsl_env.sh" ]; then
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source "\$SCRIPT_DIR/wsl_env.sh"
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fi
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echo -e "\033[0;32mEnvironment activated (ROS 2 ${ROS_DISTRO})\033[0m"
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echo "Run: bash scripts/run_simulation.sh"
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EOF
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chmod +x activate_venv.sh
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# Summary
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echo ""
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echo "=========================================="
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echo "Setup Complete!"
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echo "=========================================="
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echo -e "${GREEN}==========================================${NC}"
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echo -e "${GREEN} Setup Complete!${NC}"
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echo -e "${GREEN}==========================================${NC}"
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echo ""
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echo "Next steps:"
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if $IS_WSL; then
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echo -e "${YELLOW}WSL Setup Notes:${NC}"
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echo " - WSL environment file created: wsl_env.sh"
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echo " - For GUI apps, ensure X server is running (Windows 11 has WSLg built-in)"
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echo " - See docs/wsl_setup_guide.md for detailed instructions"
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echo ""
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fi
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echo -e "${BLUE}Next steps:${NC}"
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echo " 1. source ~/.bashrc"
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echo " 2. source activate_venv.sh"
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echo " 3. bash scripts/run_simulation.sh"
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echo ""
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echo "GPS-Denied Navigation:"
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echo -e "${BLUE}GPS-Denied Navigation:${NC}"
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echo " - All navigation uses LOCAL coordinates"
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echo " - GPS is ONLY used for geofencing"
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echo ""
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if ! check_ros2_installed && [ ! -f "/opt/ros/${ROS_DISTRO}/setup.bash" ]; then
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echo -e "${YELLOW}IMPORTANT:${NC}"
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echo " ROS 2 installation may have failed. Please install manually:"
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echo " See: https://docs.ros.org/en/${ROS_DISTRO}/Installation.html"
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echo ""
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fi
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