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2026-02-09 04:44:09 +00:00
parent 5c0d3e2fb4
commit 2d3b795d82
2 changed files with 398 additions and 313 deletions
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221
scripts/run_simulation.sh
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@@ -1,6 +1,14 @@
#!/bin/bash #!/bin/bash
# Full simulation launch script with ArduPilot SITL # =============================================================================
# This script launches Gazebo, ArduPilot SITL, and MAVROS # UAV-UGV Simulation - Run Script
# =============================================================================
# Launches Gazebo with ArduPilot SITL for GPS-denied navigation testing
#
# Usage:
# ./scripts/run_simulation.sh # Default world
# ./scripts/run_simulation.sh --world runway # Runway world
# ./scripts/run_simulation.sh --software-render # For WSL/no GPU
# =============================================================================
set -e set -e
@@ -28,51 +36,32 @@ fi
# Detect ROS distro # Detect ROS distro
ROS_DISTRO="" ROS_DISTRO=""
for distro in humble jazzy iron galactic; do for distro in jazzy humble iron galactic; do
if [ -d "/opt/ros/$distro" ]; then if [ -d "/opt/ros/$distro" ]; then
ROS_DISTRO="$distro" ROS_DISTRO="$distro"
break break
fi fi
done done
if [ -z "$ROS_DISTRO" ]; then if [ -n "$ROS_DISTRO" ]; then
echo -e "${RED}ERROR: No ROS 2 installation found!${NC}"
echo "Please install ROS 2 first. See docs/setup_guide.md"
exit 1
fi
echo -e "${GREEN}Using ROS 2: $ROS_DISTRO${NC}"
# Check ArduPilot installation
ARDUPILOT_HOME="${ARDUPILOT_HOME:-$HOME/ardupilot}"
if [ ! -d "$ARDUPILOT_HOME" ]; then
echo -e "${RED}ERROR: ArduPilot not found at $ARDUPILOT_HOME${NC}"
echo ""
echo "Please install ArduPilot first:"
echo " bash scripts/install_ardupilot.sh"
echo ""
exit 1
fi
# Source environments
source /opt/ros/${ROS_DISTRO}/setup.bash source /opt/ros/${ROS_DISTRO}/setup.bash
echo -e "${GREEN}ROS 2: $ROS_DISTRO${NC}"
if [ -f /usr/share/gazebo/setup.bash ]; then
source /usr/share/gazebo/setup.bash
elif [ -f /usr/share/gazebo-11/setup.bash ]; then
source /usr/share/gazebo-11/setup.bash
fi fi
# ArduPilot paths
ARDUPILOT_HOME="${ARDUPILOT_HOME:-$HOME/ardupilot}"
ARDUPILOT_GZ="${ARDUPILOT_GZ:-$HOME/ardupilot_gazebo}"
# Parse arguments # Parse arguments
WORLD="$PROJECT_DIR/worlds/iris_runway.world" WORLD_NAME="iris_runway"
VEHICLE="copter" VEHICLE="ArduCopter"
USE_SOFTWARE_RENDER=false USE_SOFTWARE_RENDER=false
INSTANCE=0 INSTANCE=0
while [[ $# -gt 0 ]]; do while [[ $# -gt 0 ]]; do
case $1 in case $1 in
--world) --world)
WORLD="$2" WORLD_NAME="$2"
shift 2 shift 2
;; ;;
--vehicle) --vehicle)
@@ -91,40 +80,58 @@ while [[ $# -gt 0 ]]; do
echo "Usage: $0 [OPTIONS]" echo "Usage: $0 [OPTIONS]"
echo "" echo ""
echo "Options:" echo "Options:"
echo " --world FILE World file (default: iris_runway.world)" echo " --world NAME World name (default: iris_runway)"
echo " --vehicle TYPE Vehicle type: copter, rover (default: copter)" echo " --vehicle TYPE ArduCopter or Rover (default: ArduCopter)"
echo " --software-render Force software rendering (for WSL)" echo " --software-render Force software rendering (for WSL)"
echo " --instance N Vehicle instance number (default: 0)" echo " --instance N SITL instance number (default: 0)"
echo " --help Show this help" echo " --help Show this help"
echo ""
echo "Available worlds in ardupilot_gazebo:"
ls "$ARDUPILOT_GZ/worlds/"*.sdf 2>/dev/null | xargs -I {} basename {} .sdf || echo " (none found)"
exit 0 exit 0
;; ;;
*) *)
if [ -f "$1" ]; then WORLD_NAME="$1"
WORLD="$1"
elif [ -f "$PROJECT_DIR/worlds/$1" ]; then
WORLD="$PROJECT_DIR/worlds/$1"
fi
shift shift
;; ;;
esac esac
done done
# Setup Gazebo paths # Setup Gazebo paths
export GAZEBO_MODEL_PATH="$PROJECT_DIR/models:${GAZEBO_MODEL_PATH:-}" export GZ_SIM_RESOURCE_PATH="$PROJECT_DIR/models:$PROJECT_DIR/worlds:${GZ_SIM_RESOURCE_PATH:-}"
export GAZEBO_RESOURCE_PATH="$PROJECT_DIR/worlds:${GAZEBO_RESOURCE_PATH:-}"
if [ -d "$HOME/ardupilot_gazebo" ]; then if [ -d "$ARDUPILOT_GZ" ]; then
export GAZEBO_MODEL_PATH="$HOME/ardupilot_gazebo/models:$GAZEBO_MODEL_PATH" export GZ_SIM_SYSTEM_PLUGIN_PATH="$ARDUPILOT_GZ/build:${GZ_SIM_SYSTEM_PLUGIN_PATH:-}"
export GAZEBO_RESOURCE_PATH="$HOME/ardupilot_gazebo/worlds:$GAZEBO_RESOURCE_PATH" export GZ_SIM_RESOURCE_PATH="$ARDUPILOT_GZ/models:$ARDUPILOT_GZ/worlds:$GZ_SIM_RESOURCE_PATH"
fi
# Find world file
WORLD_FILE=""
if [ -f "$PROJECT_DIR/worlds/${WORLD_NAME}.sdf" ]; then
WORLD_FILE="$PROJECT_DIR/worlds/${WORLD_NAME}.sdf"
elif [ -f "$ARDUPILOT_GZ/worlds/${WORLD_NAME}.sdf" ]; then
WORLD_FILE="$ARDUPILOT_GZ/worlds/${WORLD_NAME}.sdf"
elif [ -f "$WORLD_NAME" ]; then
WORLD_FILE="$WORLD_NAME"
else
echo -e "${RED}ERROR: World file not found: $WORLD_NAME${NC}"
echo ""
echo "Available worlds:"
echo " Project worlds:"
ls "$PROJECT_DIR/worlds/"*.sdf 2>/dev/null | xargs -I {} basename {} .sdf || echo " (none)"
echo " ArduPilot Gazebo worlds:"
ls "$ARDUPILOT_GZ/worlds/"*.sdf 2>/dev/null | xargs -I {} basename {} .sdf || echo " (none)"
exit 1
fi fi
# WSL/Display setup # WSL/Display setup
if $IS_WSL; then if $IS_WSL; then
if [ -f "$PROJECT_DIR/wsl_env.sh" ]; then
source "$PROJECT_DIR/wsl_env.sh"
fi
if [ -z "$DISPLAY" ]; then if [ -z "$DISPLAY" ]; then
if [ -d "/mnt/wslg" ]; then
export DISPLAY=:0 export DISPLAY=:0
else
export DISPLAY=$(cat /etc/resolv.conf | grep nameserver | awk '{print $2}'):0
fi
fi fi
echo -e "${BLUE}DISPLAY: $DISPLAY${NC}" echo -e "${BLUE}DISPLAY: $DISPLAY${NC}"
fi fi
@@ -140,15 +147,12 @@ cleanup() {
echo "" echo ""
echo -e "${YELLOW}Shutting down simulation...${NC}" echo -e "${YELLOW}Shutting down simulation...${NC}"
# Kill processes
pkill -f "sim_vehicle.py" 2>/dev/null || true pkill -f "sim_vehicle.py" 2>/dev/null || true
pkill -f "mavproxy" 2>/dev/null || true pkill -f "mavproxy" 2>/dev/null || true
pkill -f "ArduCopter" 2>/dev/null || true pkill -f "arducopter" 2>/dev/null || true
pkill -f "ArduRover" 2>/dev/null || true pkill -f "ardurover" 2>/dev/null || true
pkill -f "gzserver" 2>/dev/null || true pkill -f "ruby" 2>/dev/null || true # gz sim uses ruby
pkill -f "gzclient" 2>/dev/null || true pkill -f "gz sim" 2>/dev/null || true
pkill -f "gazebo" 2>/dev/null || true
pkill -f "mavros" 2>/dev/null || true
sleep 2 sleep 2
echo -e "${GREEN}Cleanup complete.${NC}" echo -e "${GREEN}Cleanup complete.${NC}"
@@ -156,125 +160,78 @@ cleanup() {
trap cleanup EXIT INT TERM trap cleanup EXIT INT TERM
# Activate virtual environment # Check ArduPilot installation
if [ -f "$PROJECT_DIR/venv/bin/activate" ]; then if [ ! -d "$ARDUPILOT_HOME" ]; then
source "$PROJECT_DIR/venv/bin/activate" echo -e "${RED}ERROR: ArduPilot not found at $ARDUPILOT_HOME${NC}"
fi echo "Run setup.sh first to install ArduPilot"
# Use ardupilot_gazebo iris world if no custom world specified
if [ ! -f "$WORLD" ]; then
if [ -f "$HOME/ardupilot_gazebo/worlds/iris_arducopter_runway.world" ]; then
WORLD="$HOME/ardupilot_gazebo/worlds/iris_arducopter_runway.world"
else
echo -e "${RED}ERROR: World file not found: $WORLD${NC}"
exit 1 exit 1
fi fi
# Check Gazebo plugin
if [ ! -f "$ARDUPILOT_GZ/build/libArduPilotPlugin.so" ]; then
echo -e "${RED}ERROR: ArduPilot Gazebo plugin not found${NC}"
echo "Run setup.sh first to build the plugin"
exit 1
fi fi
echo "" echo ""
echo -e "${GREEN}Configuration:${NC}" echo -e "${GREEN}Configuration:${NC}"
echo " Vehicle: $VEHICLE" echo " Vehicle: $VEHICLE"
echo " World: $(basename $WORLD)" echo " World: $(basename $WORLD_FILE .sdf)"
echo " Instance: $INSTANCE" echo " Instance: $INSTANCE"
echo "" echo ""
# Calculate ports
MAVLINK_PORT=$((14550 + INSTANCE * 10))
SITL_PORT=$((5760 + INSTANCE * 10))
# Start Gazebo in background # Start Gazebo in background
echo -e "${GREEN}Starting Gazebo...${NC}" echo -e "${GREEN}Starting Gazebo...${NC}"
gazebo --verbose "$WORLD" & gz sim -v4 -r "$WORLD_FILE" &
GAZEBO_PID=$! GZ_PID=$!
sleep 5 sleep 5
# Check if Gazebo started # Check if Gazebo started
if ! kill -0 $GAZEBO_PID 2>/dev/null; then if ! kill -0 $GZ_PID 2>/dev/null; then
echo -e "${RED}ERROR: Gazebo failed to start${NC}" echo -e "${RED}ERROR: Gazebo failed to start${NC}"
exit 1 exit 1
fi fi
echo -e "${GREEN}Gazebo running (PID: $GAZEBO_PID)${NC}" echo -e "${GREEN}Gazebo running (PID: $GZ_PID)${NC}"
# Start ArduPilot SITL # Start ArduPilot SITL
echo -e "${GREEN}Starting ArduPilot SITL...${NC}" echo -e "${GREEN}Starting ArduPilot SITL...${NC}"
cd "$ARDUPILOT_HOME" cd "$ARDUPILOT_HOME"
if [ "$VEHICLE" = "copter" ]; then export PATH=$PATH:$ARDUPILOT_HOME/Tools/autotest:$HOME/.local/bin
VEHICLE_DIR="ArduCopter"
FRAME="gazebo-iris"
elif [ "$VEHICLE" = "rover" ]; then
VEHICLE_DIR="Rover"
FRAME="gazebo-rover"
else
VEHICLE_DIR="ArduCopter"
FRAME="gazebo-iris"
fi
cd "$ARDUPILOT_HOME/$VEHICLE_DIR" sim_vehicle.py \
-v $VEHICLE \
# Start sim_vehicle.py in background -f gazebo-iris \
python3 "$ARDUPILOT_HOME/Tools/autotest/sim_vehicle.py" \ --model JSON \
-v "$VEHICLE_DIR" \ -I $INSTANCE \
-f "$FRAME" \ --console \
--no-mavproxy \
-I "$INSTANCE" \
--no-rebuild \
& &
SITL_PID=$! SITL_PID=$!
sleep 10 sleep 10
# Check if SITL started
if ! kill -0 $SITL_PID 2>/dev/null; then
echo -e "${RED}ERROR: ArduPilot SITL failed to start${NC}"
exit 1
fi
echo -e "${GREEN}ArduPilot SITL running (PID: $SITL_PID)${NC}"
# Start MAVROS
echo -e "${GREEN}Starting MAVROS...${NC}"
ros2 run mavros mavros_node --ros-args \
-p fcu_url:="udp://127.0.0.1:${MAVLINK_PORT}@" \
-p gcs_url:="" \
-p target_system_id:=1 \
-p target_component_id:=1 \
&>/dev/null &
MAVROS_PID=$!
sleep 5
echo "" echo ""
echo -e "${GREEN}==========================================${NC}" echo -e "${GREEN}==========================================${NC}"
echo -e "${GREEN} Simulation Running${NC}" echo -e "${GREEN} Simulation Running${NC}"
echo -e "${GREEN}==========================================${NC}" echo -e "${GREEN}==========================================${NC}"
echo "" echo ""
echo -e "${BLUE}Components:${NC}" echo -e "${BLUE}Components:${NC}"
echo " - Gazebo: PID $GAZEBO_PID" echo " - Gazebo: PID $GZ_PID"
echo " - ArduPilot SITL: PID $SITL_PID" echo " - ArduPilot SITL: PID $SITL_PID"
echo " - MAVROS: PID $MAVROS_PID"
echo "" echo ""
echo -e "${BLUE}MAVROS Topics:${NC}" echo -e "${BLUE}MAVProxy Commands (in console):${NC}"
echo " ros2 topic list | grep mavros" echo " mode guided # Switch to GUIDED mode"
echo "" echo " arm throttle # Arm the drone"
echo -e "${BLUE}Control UAV:${NC}" echo " takeoff 5 # Takeoff to 5 meters"
echo " # Arm" echo " guided 10 5 -10 # Fly to position (N, E, D)"
echo " ros2 service call /mavros/cmd/arming mavros_msgs/srv/CommandBool \"{value: true}\"" echo " rtl # Return to launch"
echo "" echo " land # Land"
echo " # Set mode to GUIDED"
echo " ros2 service call /mavros/set_mode mavros_msgs/srv/SetMode \"{base_mode: 0, custom_mode: 'GUIDED'}\""
echo ""
echo " # Takeoff to 5 meters"
echo " ros2 service call /mavros/cmd/takeoff mavros_msgs/srv/CommandTOL \"{altitude: 5}\""
echo ""
echo " # Send position setpoint (x, y, z in meters)"
echo " ros2 topic pub /mavros/setpoint_position/local geometry_msgs/PoseStamped \\"
echo " \"{header: {frame_id: 'map'}, pose: {position: {x: 10, y: 5, z: 5}}}\""
echo "" echo ""
echo -e "${YELLOW}Press Ctrl+C to stop simulation${NC}" echo -e "${YELLOW}Press Ctrl+C to stop simulation${NC}"
echo "" echo ""
# Wait for all processes # Wait for processes
wait wait

466
setup.sh
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@@ -1,7 +1,14 @@
#!/bin/bash #!/bin/bash
# =============================================================================
# UAV-UGV Simulation - Complete Installation Script # UAV-UGV Simulation - Complete Installation Script
# =============================================================================
# Installs everything needed for GPS-denied navigation simulation # Installs everything needed for GPS-denied navigation simulation
# Compatible with Ubuntu 22.04/24.04 and WSL2 # Compatible with Ubuntu 22.04/24.04 and WSL2
#
# Usage:
# ./setup.sh # Full installation
# ./setup.sh --skip-ardupilot # Skip ArduPilot (Gazebo only)
# =============================================================================
set -e set -e
@@ -36,6 +43,14 @@ print_error() {
echo -e "${RED}ERROR: $1${NC}" echo -e "${RED}ERROR: $1${NC}"
} }
# Get script directory
SCRIPT_DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" && pwd)"
cd "$SCRIPT_DIR"
# ArduPilot directories
ARDUPILOT_HOME="$HOME/ardupilot"
ARDUPILOT_GZ="$HOME/ardupilot_gazebo"
# Detect environment # Detect environment
detect_environment() { detect_environment() {
IS_WSL=false IS_WSL=false
@@ -43,7 +58,7 @@ detect_environment() {
if grep -qEi "(microsoft|wsl)" /proc/version 2>/dev/null; then if grep -qEi "(microsoft|wsl)" /proc/version 2>/dev/null; then
IS_WSL=true IS_WSL=true
if [ -f /run/WSL ] || grep -qi "wsl2" /proc/version 2>/dev/null; then if grep -qi "wsl2" /proc/version 2>/dev/null || [ -f /run/WSL ]; then
IS_WSL2=true IS_WSL2=true
fi fi
fi fi
@@ -53,47 +68,65 @@ detect_environment() {
. /etc/os-release . /etc/os-release
UBUNTU_VERSION="$VERSION_ID" UBUNTU_VERSION="$VERSION_ID"
UBUNTU_CODENAME="$VERSION_CODENAME" UBUNTU_CODENAME="$VERSION_CODENAME"
else
UBUNTU_VERSION="22.04"
UBUNTU_CODENAME="jammy"
fi fi
# Determine ROS distro # Determine ROS distro and compatible repository codename
case "$UBUNTU_VERSION" in if [ "$UBUNTU_VERSION" = "24.04" ]; then
"22.04") ROS_DISTRO="humble" ;; ROS_DISTRO="jazzy"
"24.04") ROS_DISTRO="jazzy" ;; ROS_UBUNTU_CODENAME="noble"
"20.04") ROS_DISTRO="galactic" ;; elif [ "$UBUNTU_VERSION" = "22.04" ]; then
*) ROS_DISTRO="humble" ;; ROS_DISTRO="humble"
esac ROS_UBUNTU_CODENAME="jammy"
else
# For newer versions, use latest available
UBUNTU_MAJOR=$(echo "$UBUNTU_VERSION" | cut -d. -f1)
if [ "$UBUNTU_MAJOR" -ge 24 ] 2>/dev/null; then
ROS_DISTRO="jazzy"
ROS_UBUNTU_CODENAME="noble"
else
ROS_DISTRO="humble"
ROS_UBUNTU_CODENAME="jammy"
fi
fi
} }
SCRIPT_DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" && pwd)" # Parse arguments
cd "$SCRIPT_DIR" INSTALL_ARDUPILOT=true
for arg in "$@"; do
if [ "$arg" = "--skip-ardupilot" ]; then
INSTALL_ARDUPILOT=false
fi
done
detect_environment
print_header "UAV-UGV Simulation - Complete Setup" print_header "UAV-UGV Simulation - Complete Setup"
echo "GPS-Denied Navigation with Geofencing" echo "GPS-Denied Navigation with Geofencing"
echo "" echo ""
detect_environment
echo -e "${CYAN}Detected Environment:${NC}" echo -e "${CYAN}Detected Environment:${NC}"
echo " Ubuntu: $UBUNTU_VERSION ($UBUNTU_CODENAME)" echo " Ubuntu: $UBUNTU_VERSION ($UBUNTU_CODENAME)"
echo " WSL: $IS_WSL | WSL2: $IS_WSL2" echo " WSL: $IS_WSL | WSL2: $IS_WSL2"
echo " ROS 2 Target: $ROS_DISTRO" echo " ROS 2 Target: $ROS_DISTRO"
echo " ArduPilot: $INSTALL_ARDUPILOT"
echo "" echo ""
if [ "$INSTALL_ARDUPILOT" = true ]; then
TOTAL_STEPS=10 TOTAL_STEPS=10
else
TOTAL_STEPS=7
fi
STEP=1 STEP=1
# ============================================================================ # ============================================================================
# STEP 1: System Update # STEP 1: System Update & Dependencies
# ============================================================================ # ============================================================================
print_step $STEP "Updating system packages" print_step $STEP "Installing system dependencies"
sudo apt-get update
sudo apt-get upgrade -y
((STEP++))
# ============================================================================ sudo apt-get update
# STEP 2: Install Base Dependencies
# ============================================================================
print_step $STEP "Installing base dependencies"
sudo apt-get install -y \ sudo apt-get install -y \
curl \ curl \
gnupg \ gnupg \
@@ -116,9 +149,15 @@ sudo apt-get install -y \
libopencv-dev \ libopencv-dev \
libxml2-dev \ libxml2-dev \
libxslt1-dev \ libxslt1-dev \
libgstreamer1.0-dev \
libgstreamer-plugins-base1.0-dev \
gstreamer1.0-plugins-bad \
gstreamer1.0-libav \
gstreamer1.0-gl \
ccache \ ccache \
gawk \ gawk \
libtool-bin libtool-bin \
netcat-openbsd
# WSL-specific packages # WSL-specific packages
if $IS_WSL; then if $IS_WSL; then
@@ -133,143 +172,194 @@ fi
((STEP++)) ((STEP++))
# ============================================================================ # ============================================================================
# STEP 3: Install ROS 2 # STEP 2: Install ROS 2
# ============================================================================ # ============================================================================
print_step $STEP "Installing ROS 2 $ROS_DISTRO" print_step $STEP "Installing ROS 2 $ROS_DISTRO"
if [ ! -d "/opt/ros/$ROS_DISTRO" ]; then # Add ROS 2 GPG key
# Add ROS 2 repository
if [ ! -f /usr/share/keyrings/ros-archive-keyring.gpg ]; then
sudo curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key \ sudo curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key \
-o /usr/share/keyrings/ros-archive-keyring.gpg -o /usr/share/keyrings/ros-archive-keyring.gpg
fi
# Add repository using compatible Ubuntu codename
echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] \ echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] \
http://packages.ros.org/ros2/ubuntu $(lsb_release -cs) main" | \ http://packages.ros.org/ros2/ubuntu $ROS_UBUNTU_CODENAME main" | \
sudo tee /etc/apt/sources.list.d/ros2.list > /dev/null sudo tee /etc/apt/sources.list.d/ros2.list > /dev/null
sudo apt-get update sudo apt-get update
sudo apt-get install -y ros-${ROS_DISTRO}-desktop python3-colcon-common-extensions
else
print_info "ROS 2 $ROS_DISTRO already installed"
fi
((STEP++))
# ============================================================================ # Install ROS 2
# STEP 4: Install ROS 2 Packages
# ============================================================================
print_step $STEP "Installing ROS 2 packages"
sudo apt-get install -y \ sudo apt-get install -y \
ros-${ROS_DISTRO}-mavros \ ros-${ROS_DISTRO}-ros-base \
ros-${ROS_DISTRO}-mavros-extras \ ros-${ROS_DISTRO}-geometry-msgs \
ros-${ROS_DISTRO}-cv-bridge \ ros-${ROS_DISTRO}-std-msgs \
ros-${ROS_DISTRO}-image-transport \ ros-${ROS_DISTRO}-nav-msgs \
ros-${ROS_DISTRO}-tf2 \ ros-${ROS_DISTRO}-sensor-msgs \
ros-${ROS_DISTRO}-tf2-ros \ python3-colcon-common-extensions || {
ros-${ROS_DISTRO}-tf2-geometry-msgs \ print_error "Failed to install ROS 2 $ROS_DISTRO"
ros-${ROS_DISTRO}-gazebo-ros-pkgs 2>/dev/null || \ exit 1
print_warning "Some ROS packages not available for $ROS_DISTRO" }
# Install GeographicLib datasets for MAVROS # Install ros-gz bridge
GEOGRAPHICLIB_SCRIPT="/opt/ros/${ROS_DISTRO}/lib/mavros/install_geographiclib_datasets.sh" sudo apt-get install -y ros-${ROS_DISTRO}-ros-gz || \
if [ -f "$GEOGRAPHICLIB_SCRIPT" ]; then print_warning "Could not install ros-gz bridge"
if [ ! -f /usr/share/GeographicLib/geoids/egm96-5.pgm ]; then
print_info "Installing GeographicLib datasets (this may take a minute)" print_info "ROS 2 $ROS_DISTRO installed"
sudo "$GEOGRAPHICLIB_SCRIPT" || print_warning "GeographicLib installation failed"
fi
fi
((STEP++)) ((STEP++))
# ============================================================================ # ============================================================================
# STEP 5: Install Gazebo # STEP 3: Install Gazebo (Harmonic or Garden)
# ============================================================================ # ============================================================================
print_step $STEP "Installing Gazebo" print_step $STEP "Installing Gazebo"
sudo apt-get install -y gazebo libgazebo-dev || \
sudo apt-get install -y gazebo11 libgazebo11-dev || \
print_warning "Gazebo installation may require manual setup"
((STEP++))
# ============================================================================ # Add Gazebo repository
# STEP 6: Install ArduPilot SITL GZ_UBUNTU_CODENAME="$ROS_UBUNTU_CODENAME"
# ============================================================================ sudo wget -q https://packages.osrfoundation.org/gazebo.gpg \
print_step $STEP "Installing ArduPilot SITL" -O /usr/share/keyrings/pkgs-osrf-archive-keyring.gpg 2>/dev/null || true
ARDUPILOT_HOME="$HOME/ardupilot" echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/pkgs-osrf-archive-keyring.gpg] \
if [ ! -d "$ARDUPILOT_HOME" ]; then http://packages.osrfoundation.org/gazebo/ubuntu-stable $GZ_UBUNTU_CODENAME main" | \
print_info "Cloning ArduPilot repository..." sudo tee /etc/apt/sources.list.d/gazebo-stable.list > /dev/null
cd "$HOME"
git clone --recurse-submodules https://github.com/ArduPilot/ardupilot.git sudo apt-get update
cd ardupilot
git submodule update --init --recursive # Try Gazebo Harmonic first, then Garden
GZ_VERSION=""
if sudo apt-get install -y gz-harmonic 2>/dev/null; then
GZ_VERSION="harmonic"
# Install Harmonic development packages for building plugins
sudo apt-get install -y \
libgz-cmake3-dev \
libgz-sim8-dev \
libgz-plugin2-dev \
libgz-common5-dev \
libgz-physics7-dev \
libgz-sensors8-dev \
libgz-rendering8-dev \
libgz-transport13-dev \
libgz-msgs10-dev \
rapidjson-dev \
2>/dev/null || print_warning "Some Gazebo dev packages may be missing"
elif sudo apt-get install -y gz-garden 2>/dev/null; then
GZ_VERSION="garden"
# Install Garden development packages
sudo apt-get install -y \
libgz-cmake3-dev \
libgz-sim7-dev \
libgz-plugin2-dev \
libgz-common5-dev \
libgz-physics6-dev \
libgz-sensors7-dev \
libgz-rendering7-dev \
libgz-transport12-dev \
libgz-msgs9-dev \
rapidjson-dev \
2>/dev/null || print_warning "Some Gazebo dev packages may be missing"
else else
print_info "ArduPilot already exists, updating..." print_warning "Could not install Gazebo Harmonic/Garden"
cd "$ARDUPILOT_HOME" GZ_VERSION="none"
git fetch origin
git submodule update --init --recursive
fi fi
# Install ArduPilot prerequisites if command -v gz &> /dev/null; then
print_info "Installing ArduPilot prerequisites..." print_info "Gazebo $GZ_VERSION installed"
cd "$ARDUPILOT_HOME"
USER_NONINTERACTIVE=1 Tools/environment_install/install-prereqs-ubuntu.sh -y || true
# Reload profile
. ~/.profile 2>/dev/null || true
# Build ArduPilot SITL
print_info "Building ArduPilot SITL (this may take several minutes)..."
cd "$ARDUPILOT_HOME"
./waf configure --board sitl
./waf copter
./waf rover
((STEP++))
# ============================================================================
# STEP 7: Install ardupilot_gazebo Plugin
# ============================================================================
print_step $STEP "Installing ardupilot_gazebo plugin"
ARDUPILOT_GAZEBO_HOME="$HOME/ardupilot_gazebo"
if [ ! -d "$ARDUPILOT_GAZEBO_HOME" ]; then
print_info "Cloning ardupilot_gazebo..."
cd "$HOME"
git clone https://github.com/ArduPilot/ardupilot_gazebo.git
else else
print_info "ardupilot_gazebo already exists, updating..." print_warning "Gazebo command not found"
cd "$ARDUPILOT_GAZEBO_HOME"
git pull origin main || true
fi fi
cd "$ARDUPILOT_GAZEBO_HOME"
mkdir -p build && cd build
cmake ..
make -j$(nproc)
sudo make install
((STEP++)) ((STEP++))
# ============================================================================ # ============================================================================
# STEP 8: Setup Python Virtual Environment # STEP 4: Python Virtual Environment
# ============================================================================ # ============================================================================
print_step $STEP "Setting up Python environment" print_step $STEP "Setting up Python environment"
cd "$SCRIPT_DIR" if [ -d "$SCRIPT_DIR/venv" ]; then
rm -rf "$SCRIPT_DIR/venv"
if [ ! -d "venv" ]; then
python3 -m venv venv
fi fi
source venv/bin/activate python3 -m venv "$SCRIPT_DIR/venv"
source "$SCRIPT_DIR/venv/bin/activate"
pip install --upgrade pip pip install --upgrade pip
pip install -r requirements.txt || print_warning "Some Python packages failed"
if [ -f "$SCRIPT_DIR/requirements.txt" ]; then
pip install -r "$SCRIPT_DIR/requirements.txt" || print_warning "Some Python packages failed"
else
pip install numpy opencv-python scipy shapely filterpy transforms3d pymavlink pexpect
fi
deactivate deactivate
((STEP++)) ((STEP++))
# ============================================================================ # ============================================================================
# STEP 9: Configure Environment # STEP 5: Create Activation Script
# ============================================================================ # ============================================================================
print_step $STEP "Configuring environment" print_step $STEP "Creating activation script"
cat > "$SCRIPT_DIR/activate_venv.sh" << 'ACTIVATE_EOF'
#!/bin/bash
# UAV-UGV Simulation - Environment Activation
# Usage: source activate_venv.sh
SCRIPT_DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" && pwd)"
# ROS 2 Setup
if [ -f "/opt/ros/jazzy/setup.bash" ]; then
source /opt/ros/jazzy/setup.bash
ROS_VER="jazzy"
elif [ -f "/opt/ros/humble/setup.bash" ]; then
source /opt/ros/humble/setup.bash
ROS_VER="humble"
else
echo "[WARN] ROS 2 not found in /opt/ros/"
ROS_VER="none"
fi
# ArduPilot Environment
export ARDUPILOT_HOME="$HOME/ardupilot"
export PATH="$ARDUPILOT_HOME/Tools/autotest:$PATH"
export PATH="$HOME/.local/bin:$PATH"
# Deactivate existing venv
if [ -n "$VIRTUAL_ENV" ]; then
deactivate 2>/dev/null || true
fi
# Activate project venv
if [ -f "$SCRIPT_DIR/venv/bin/activate" ]; then
source "$SCRIPT_DIR/venv/bin/activate"
fi
# Gazebo paths (new Gazebo - Ignition/Harmonic)
export GZ_SIM_RESOURCE_PATH="$SCRIPT_DIR/models:$SCRIPT_DIR/worlds:${GZ_SIM_RESOURCE_PATH:-}"
# ArduPilot Gazebo plugin
if [ -d "$HOME/ardupilot_gazebo/build" ]; then
export GZ_SIM_SYSTEM_PLUGIN_PATH="$HOME/ardupilot_gazebo/build:${GZ_SIM_SYSTEM_PLUGIN_PATH:-}"
export GZ_SIM_RESOURCE_PATH="$HOME/ardupilot_gazebo/models:$HOME/ardupilot_gazebo/worlds:$GZ_SIM_RESOURCE_PATH"
fi
# WSL environment
if grep -qEi "(microsoft|wsl)" /proc/version 2>/dev/null; then
if [ -d "/mnt/wslg" ]; then
export DISPLAY=:0
else
export DISPLAY=$(cat /etc/resolv.conf 2>/dev/null | grep nameserver | awk '{print $2}'):0
fi
export LIBGL_ALWAYS_INDIRECT=0
export MESA_GL_VERSION_OVERRIDE=3.3
fi
echo -e "\033[0;32mEnvironment activated (ROS 2 $ROS_VER)\033[0m"
echo ""
echo "Run simulation: bash scripts/run_simulation.sh"
ACTIVATE_EOF
chmod +x "$SCRIPT_DIR/activate_venv.sh"
((STEP++))
# ============================================================================
# STEP 6: Create WSL Environment (if applicable)
# ============================================================================
print_step $STEP "Configuring environment files"
# Create WSL environment file
if $IS_WSL; then if $IS_WSL; then
cat > "$SCRIPT_DIR/wsl_env.sh" << 'WSLEOF' cat > "$SCRIPT_DIR/wsl_env.sh" << 'WSLEOF'
#!/bin/bash #!/bin/bash
@@ -285,77 +375,120 @@ export LIBGL_ALWAYS_INDIRECT=0
export MESA_GL_VERSION_OVERRIDE=3.3 export MESA_GL_VERSION_OVERRIDE=3.3
export MESA_GLSL_VERSION_OVERRIDE=330 export MESA_GLSL_VERSION_OVERRIDE=330
export OGRE_RTT_MODE=Copy export OGRE_RTT_MODE=Copy
# Source Gazebo setup
[ -f /usr/share/gazebo/setup.bash ] && source /usr/share/gazebo/setup.bash
[ -f /usr/share/gazebo-11/setup.bash ] && source /usr/share/gazebo-11/setup.bash
WSLEOF WSLEOF
chmod +x "$SCRIPT_DIR/wsl_env.sh" chmod +x "$SCRIPT_DIR/wsl_env.sh"
fi fi
((STEP++))
# Create activation script # ============================================================================
cat > "$SCRIPT_DIR/activate_venv.sh" << EOF # ARDUPILOT INSTALLATION (if not skipped)
#!/bin/bash # ============================================================================
SCRIPT_DIR="\$(cd "\$(dirname "\${BASH_SOURCE[0]}")" && pwd)" if [ "$INSTALL_ARDUPILOT" = true ]; then
# ROS 2 # ========================================================================
source /opt/ros/${ROS_DISTRO}/setup.bash # STEP 7: Clone and Setup ArduPilot
# ========================================================================
print_step $STEP "Setting up ArduPilot SITL"
# Gazebo if [ ! -d "$ARDUPILOT_HOME" ]; then
[ -f /usr/share/gazebo/setup.bash ] && source /usr/share/gazebo/setup.bash print_info "Cloning ArduPilot repository..."
[ -f /usr/share/gazebo-11/setup.bash ] && source /usr/share/gazebo-11/setup.bash git clone --recurse-submodules https://github.com/ArduPilot/ardupilot.git "$ARDUPILOT_HOME"
else
# Python venv print_info "ArduPilot directory already exists"
source "\$SCRIPT_DIR/venv/bin/activate"
# Gazebo paths
export GAZEBO_MODEL_PATH="\$SCRIPT_DIR/models:\$HOME/ardupilot_gazebo/models:\${GAZEBO_MODEL_PATH:-}"
export GAZEBO_RESOURCE_PATH="\$SCRIPT_DIR/worlds:\$HOME/ardupilot_gazebo/worlds:\${GAZEBO_RESOURCE_PATH:-}"
# ArduPilot
export PATH="\$PATH:\$HOME/ardupilot/Tools/autotest"
export ARDUPILOT_HOME="\$HOME/ardupilot"
# WSL
if grep -qEi "(microsoft|wsl)" /proc/version 2>/dev/null; then
[ -f "\$SCRIPT_DIR/wsl_env.sh" ] && source "\$SCRIPT_DIR/wsl_env.sh"
fi fi
echo -e "\033[0;32mEnvironment activated (ROS 2 ${ROS_DISTRO})\033[0m" cd "$ARDUPILOT_HOME"
git submodule update --init --recursive
# Install ArduPilot prerequisites
print_info "Installing ArduPilot prerequisites (this may take a while)..."
Tools/environment_install/install-prereqs-ubuntu.sh -y || true
. ~/.profile 2>/dev/null || true
# Source ArduPilot environment
[ -f "$HOME/.ardupilot_env" ] && source "$HOME/.ardupilot_env"
print_info "ArduPilot prerequisites installed"
((STEP++))
# ========================================================================
# STEP 8: Build ArduCopter SITL
# ========================================================================
print_step $STEP "Building ArduPilot SITL (this takes several minutes)"
cd "$ARDUPILOT_HOME"
./waf configure --board sitl
./waf copter
./waf rover
print_info "ArduPilot SITL built"
((STEP++))
# ========================================================================
# STEP 9: Build ArduPilot Gazebo Plugin
# ========================================================================
print_step $STEP "Building ArduPilot Gazebo plugin"
if [ ! -d "$ARDUPILOT_GZ" ]; then
print_info "Cloning ardupilot_gazebo repository..."
git clone https://github.com/ArduPilot/ardupilot_gazebo.git "$ARDUPILOT_GZ"
else
print_info "ardupilot_gazebo directory already exists"
cd "$ARDUPILOT_GZ"
git pull origin main || true
fi
cd "$ARDUPILOT_GZ"
mkdir -p build && cd build
cmake .. -DCMAKE_BUILD_TYPE=Release
make -j$(nproc)
print_info "ArduPilot Gazebo plugin built"
# Install MAVProxy
pip3 install --user pymavlink mavproxy pexpect
((STEP++))
# ========================================================================
# STEP 10: Verify Installation
# ========================================================================
print_step $STEP "Verifying installation"
export PATH=$PATH:$ARDUPILOT_HOME/Tools/autotest:$HOME/.local/bin
echo "" echo ""
echo "Run simulation: bash scripts/run_simulation.sh" command -v sim_vehicle.py &> /dev/null && echo "[OK] sim_vehicle.py" || echo "[WARN] sim_vehicle.py not found"
echo "With rendering: bash scripts/run_simulation.sh --software-render" command -v gz &> /dev/null && echo "[OK] Gazebo (gz)" || echo "[WARN] Gazebo not found"
EOF command -v mavproxy.py &> /dev/null && echo "[OK] MAVProxy" || echo "[WARN] MAVProxy not in PATH"
chmod +x "$SCRIPT_DIR/activate_venv.sh" [ -f "$ARDUPILOT_GZ/build/libArduPilotPlugin.so" ] && echo "[OK] ArduPilot Gazebo plugin" || echo "[WARN] Plugin not built"
((STEP++)) ((STEP++))
fi
# ============================================================================ # ============================================================================
# STEP 10: Make Scripts Executable # Make scripts executable
# ============================================================================ # ============================================================================
print_step $STEP "Finalizing installation"
chmod +x "$SCRIPT_DIR/scripts/"*.sh 2>/dev/null || true chmod +x "$SCRIPT_DIR/scripts/"*.sh 2>/dev/null || true
chmod +x "$SCRIPT_DIR/activate_venv.sh" 2>/dev/null || true
((STEP++))
# ============================================================================ # ============================================================================
# COMPLETE # COMPLETE
# ============================================================================ # ============================================================================
print_header "Installation Complete!" print_header "Installation Complete!"
echo -e "${GREEN}All components installed:${NC}" echo -e "${GREEN}Components installed:${NC}"
echo " - ROS 2 $ROS_DISTRO" echo " - ROS 2 $ROS_DISTRO"
echo " - Gazebo" echo " - Gazebo $GZ_VERSION"
if [ "$INSTALL_ARDUPILOT" = true ]; then
echo " - ArduPilot SITL ($ARDUPILOT_HOME)" echo " - ArduPilot SITL ($ARDUPILOT_HOME)"
echo " - ardupilot_gazebo ($ARDUPILOT_GAZEBO_HOME)" echo " - ardupilot_gazebo ($ARDUPILOT_GZ)"
echo " - MAVROS" fi
echo " - Python dependencies" echo " - Python dependencies"
echo "" echo ""
if $IS_WSL; then if $IS_WSL; then
echo -e "${YELLOW}WSL Setup Notes:${NC}" echo -e "${YELLOW}WSL Notes:${NC}"
echo " - GUI apps require WSLg (Windows 11) or VcXsrv (Windows 10)" echo " - GUI requires WSLg (Win11) or VcXsrv (Win10)"
echo " - Use --software-render flag if graphics are slow" echo " - Use --software-render if graphics are slow"
echo "" echo ""
fi fi
@@ -364,10 +497,5 @@ echo ""
echo " cd $SCRIPT_DIR" echo " cd $SCRIPT_DIR"
echo " source activate_venv.sh" echo " source activate_venv.sh"
echo " bash scripts/run_simulation.sh" echo " bash scripts/run_simulation.sh"
if $IS_WSL; then
echo ""
echo " # Or with software rendering for WSL:"
echo " bash scripts/run_simulation.sh --software-render"
fi
echo "" echo ""
echo -e "${GREEN}==========================================${NC}" echo -e "${GREEN}==========================================${NC}"