WSL Support
This commit is contained in:
87
README.md
87
README.md
@@ -3,20 +3,20 @@
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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.
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## 🎯 Key Feature: GPS-Denied Navigation
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## Key Feature: GPS-Denied Navigation
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**Navigation Mode**: All vehicles navigate using **relative positioning** only:
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- ✅ Visual odometry from cameras
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- ✅ Optical flow sensors
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- ✅ IMU integration
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- ✅ Visual landmark tracking
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- ✅ Local coordinate frames
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- Visual odometry from cameras
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- Optical flow sensors
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- IMU integration
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- Visual landmark tracking
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- Local coordinate frames
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**GPS Usage**: GPS is ONLY used for:
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- ✅ Geofencing (safety boundaries)
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- ✅ Initial position reference (optional)
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- ❌ NOT used for waypoint navigation
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- ❌ NOT used for position control
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- Geofencing (safety boundaries)
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- Initial position reference (optional)
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- NOT used for waypoint navigation
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- NOT used for position control
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This simulates real-world GPS-denied environments like:
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- Indoor spaces
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@@ -26,31 +26,41 @@ This simulates real-world GPS-denied environments like:
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## Features
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- 🚁 **Iris quadcopter** with dual cameras (forward + downward)
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- 🚗 **Ground vehicle (UGV)** with vision sensors
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- 📷 **Visual odometry** - camera-based position estimation
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- 👁️ **Optical flow** - velocity estimation from downward camera
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- 🗺️ **Landmark navigation** - visual feature tracking
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- 🛡️ **GPS geofencing** - safety boundaries only
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- 🎮 **Single command launch** - everything runs from one script
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- 🖥️ **NVIDIA GPU acceleration** support
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- 🐍 **Python virtual environment** for isolated dependencies
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- 🌍 **GPS-denied worlds** - indoor and urban environments
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- **Iris quadcopter** with dual cameras (forward + downward)
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- **Ground vehicle (UGV)** with vision sensors
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- **Visual odometry** - camera-based position estimation
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- **Optical flow** - velocity estimation from downward camera
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- **Landmark navigation** - visual feature tracking
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- **GPS geofencing** - safety boundaries only
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- **Single command launch** - everything runs from one script
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- **NVIDIA GPU acceleration** support
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- **Python virtual environment** for isolated dependencies
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- **GPS-denied worlds** - indoor and urban environments
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## System Requirements
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- Ubuntu 22.04 LTS
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- Python 3.10
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- ROS 2 Humble
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- **Ubuntu 22.04 LTS** (or 24.04 with ROS 2 Jazzy)
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- **Python 3.10+**
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- **ROS 2 Humble** (or Jazzy for Ubuntu 24.04)
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- 8GB RAM minimum (16GB recommended)
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- NVIDIA GPU recommended
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### WSL2 Support (Windows)
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This project supports **Windows Subsystem for Linux (WSL2)**:
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- Windows 10 (21H2+) or Windows 11
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- WSL2 with Ubuntu 22.04
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- GUI support via WSLg (Windows 11) or VcXsrv (Windows 10)
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- See [WSL Setup Guide](docs/wsl_setup_guide.md) for detailed instructions
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## Quick Start
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### Linux (Native)
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```bash
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# 1. Clone repository
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cd ~/ros2_ws/src
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git clone <your-repo-url> uav_ugv_simulation
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git clone https://git.sirblob.co/SirBlob/simulation.git uav_ugv_simulation
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cd uav_ugv_simulation
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# 2. Run setup (installs everything)
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@@ -64,6 +74,30 @@ source activate_venv.sh
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bash scripts/run_simulation.sh
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```
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### WSL2 (Windows)
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```bash
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# 1. Clone repository
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cd ~
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git clone https://git.sirblob.co/SirBlob/simulation.git uav_ugv_simulation
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cd uav_ugv_simulation
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# 2. Run WSL-specific setup
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bash scripts/setup_wsl.sh
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# 3. Restart terminal
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exit
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# Reopen WSL terminal
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# 4. Run simulation
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cd ~/uav_ugv_simulation
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source activate_venv.sh
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bash scripts/run_simulation.sh
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# If graphics are slow, use software rendering:
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bash scripts/run_simulation.sh --software-render
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```
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## GPS-Denied Navigation Architecture
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```
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@@ -178,7 +212,8 @@ mission_waypoints = [
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## Documentation
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- [Setup Guide](docs/setup_guide.md)
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- [Setup Guide](docs/setup_guide.md) - Linux installation
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- [WSL Setup Guide](docs/wsl_setup_guide.md) - Windows WSL2 installation
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- [Usage Guide](docs/usage.md)
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- [Architecture Overview](docs/architecture.md)
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- [GPS-Denied Navigation](docs/gps_denied_navigation.md)
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@@ -191,7 +226,7 @@ mission_waypoints = [
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| Position Source | GPS satellites | Visual odometry + sensors |
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| Waypoint Type | GPS coordinates | Relative coordinates (x,y,z) |
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| Reference Frame | Global (lat/lon) | Local (relative to start) |
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| Indoor Capability | ❌ No | ✅ Yes |
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| Indoor Capability | No | Yes |
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| Drift | Minimal | Accumulates over time |
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| Geofencing | GPS-based | GPS-based (safety only) |
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| Use Cases | Outdoor, open sky | Indoor, urban, GPS-jammed |
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@@ -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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174
scripts/setup_wsl.sh
Executable file
174
scripts/setup_wsl.sh
Executable file
@@ -0,0 +1,174 @@
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#!/bin/bash
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# WSL Quick Setup Script
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# This script sets up the simulation environment specifically for WSL2
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set -e
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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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echo -e "${BLUE}==========================================${NC}"
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echo -e "${BLUE} UAV-UGV Simulation - WSL Setup${NC}"
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echo -e "${BLUE}==========================================${NC}"
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echo ""
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# Check if running in WSL
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if ! grep -qEi "(microsoft|wsl)" /proc/version 2>/dev/null; then
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echo -e "${YELLOW}This script is designed for WSL. Running anyway...${NC}"
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fi
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SCRIPT_DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" && pwd)"
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PROJECT_DIR="$(dirname "$SCRIPT_DIR")"
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# Detect Ubuntu version
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. /etc/os-release
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echo -e "${BLUE}Detected: Ubuntu $VERSION_ID ($VERSION_CODENAME)${NC}"
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# Determine ROS distro
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case "$VERSION_ID" in
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"22.04") ROS_DISTRO="humble" ;;
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"24.04") ROS_DISTRO="jazzy" ;;
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*) ROS_DISTRO="humble"; echo -e "${YELLOW}Unknown Ubuntu version, defaulting to Humble${NC}" ;;
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esac
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echo -e "${BLUE}Target ROS 2 distro: $ROS_DISTRO${NC}"
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||||
echo ""
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# Step 1: Update and install prerequisites
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||||
echo -e "${GREEN}[1/6] Installing prerequisites...${NC}"
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||||
sudo apt-get update
|
||||
sudo apt-get install -y \
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software-properties-common \
|
||||
curl \
|
||||
gnupg \
|
||||
lsb-release \
|
||||
x11-apps \
|
||||
x11-xserver-utils \
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dbus-x11 \
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mesa-utils \
|
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libgl1-mesa-glx
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||||
# 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 \
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||||
-o /usr/share/keyrings/ros-archive-keyring.gpg
|
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fi
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||||
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if [ ! -f /etc/apt/sources.list.d/ros2.list ]; then
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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 $(lsb_release -cs) main" | \
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sudo tee /etc/apt/sources.list.d/ros2.list > /dev/null
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fi
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sudo apt-get update
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||||
# Step 3: Install ROS 2
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||||
echo -e "${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-${ROS_DISTRO}-ros-base
|
||||
}
|
||||
else
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||||
echo -e "${BLUE}ROS 2 $ROS_DISTRO already installed${NC}"
|
||||
fi
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||||
|
||||
# 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:${NC}"
|
||||
echo " - Windows 11: GUI works out of the box (WSLg)"
|
||||
echo " - Windows 10: Install VcXsrv and run XLaunch first"
|
||||
echo " - Slow graphics? Run with: bash scripts/run_simulation.sh --software-render"
|
||||
echo " - See docs/wsl_setup_guide.md for detailed help"
|
||||
echo ""
|
||||
394
setup.sh
394
setup.sh
@@ -1,93 +1,383 @@
|
||||
#!/bin/bash
|
||||
set -e
|
||||
|
||||
echo "=========================================="
|
||||
echo "UAV-UGV Simulation Setup"
|
||||
echo "Ubuntu 22.04 + Python 3.10 + ROS 2 Humble"
|
||||
echo "GPS-Denied Navigation with Geofencing"
|
||||
echo "=========================================="
|
||||
echo ""
|
||||
# Colors for output
|
||||
RED='\033[0;31m'
|
||||
GREEN='\033[0;32m'
|
||||
YELLOW='\033[1;33m'
|
||||
BLUE='\033[0;34m'
|
||||
NC='\033[0m' # No Color
|
||||
|
||||
print_header() {
|
||||
echo -e "${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
|
||||
|
||||
Reference in New Issue
Block a user