Update Install Scripts 2
This commit is contained in:
@@ -1,6 +1,14 @@
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#!/bin/bash
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# Full simulation launch script with ArduPilot SITL
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# This script launches Gazebo, ArduPilot SITL, and MAVROS
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# =============================================================================
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# UAV-UGV Simulation - Run Script
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# =============================================================================
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# Launches Gazebo with ArduPilot SITL for GPS-denied navigation testing
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#
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# Usage:
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# ./scripts/run_simulation.sh # Default world
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# ./scripts/run_simulation.sh --world runway # Runway world
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# ./scripts/run_simulation.sh --software-render # For WSL/no GPU
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# =============================================================================
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set -e
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@@ -28,51 +36,32 @@ 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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for distro in jazzy humble 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!${NC}"
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echo "Please install ROS 2 first. See docs/setup_guide.md"
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exit 1
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fi
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echo -e "${GREEN}Using ROS 2: $ROS_DISTRO${NC}"
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# Check ArduPilot installation
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ARDUPILOT_HOME="${ARDUPILOT_HOME:-$HOME/ardupilot}"
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if [ ! -d "$ARDUPILOT_HOME" ]; then
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echo -e "${RED}ERROR: ArduPilot not found at $ARDUPILOT_HOME${NC}"
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echo ""
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echo "Please install ArduPilot first:"
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echo " bash scripts/install_ardupilot.sh"
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echo ""
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exit 1
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fi
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# Source environments
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if [ -n "$ROS_DISTRO" ]; then
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source /opt/ros/${ROS_DISTRO}/setup.bash
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if [ -f /usr/share/gazebo/setup.bash ]; then
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source /usr/share/gazebo/setup.bash
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elif [ -f /usr/share/gazebo-11/setup.bash ]; then
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source /usr/share/gazebo-11/setup.bash
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echo -e "${GREEN}ROS 2: $ROS_DISTRO${NC}"
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fi
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# ArduPilot paths
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ARDUPILOT_HOME="${ARDUPILOT_HOME:-$HOME/ardupilot}"
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ARDUPILOT_GZ="${ARDUPILOT_GZ:-$HOME/ardupilot_gazebo}"
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# Parse arguments
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WORLD="$PROJECT_DIR/worlds/iris_runway.world"
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VEHICLE="copter"
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WORLD_NAME="iris_runway"
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VEHICLE="ArduCopter"
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USE_SOFTWARE_RENDER=false
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INSTANCE=0
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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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WORLD_NAME="$2"
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shift 2
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;;
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--vehicle)
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@@ -91,40 +80,58 @@ while [[ $# -gt 0 ]]; do
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echo "Usage: $0 [OPTIONS]"
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echo ""
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echo "Options:"
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echo " --world FILE World file (default: iris_runway.world)"
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echo " --vehicle TYPE Vehicle type: copter, rover (default: copter)"
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echo " --world NAME World name (default: iris_runway)"
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echo " --vehicle TYPE ArduCopter or Rover (default: ArduCopter)"
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echo " --software-render Force software rendering (for WSL)"
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echo " --instance N Vehicle instance number (default: 0)"
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echo " --instance N SITL instance number (default: 0)"
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echo " --help Show this help"
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echo ""
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echo "Available worlds in ardupilot_gazebo:"
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ls "$ARDUPILOT_GZ/worlds/"*.sdf 2>/dev/null | xargs -I {} basename {} .sdf || echo " (none found)"
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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="$1"
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elif [ -f "$PROJECT_DIR/worlds/$1" ]; then
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WORLD="$PROJECT_DIR/worlds/$1"
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fi
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WORLD_NAME="$1"
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shift
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;;
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esac
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done
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# Setup Gazebo paths
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export GAZEBO_MODEL_PATH="$PROJECT_DIR/models:${GAZEBO_MODEL_PATH:-}"
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export GAZEBO_RESOURCE_PATH="$PROJECT_DIR/worlds:${GAZEBO_RESOURCE_PATH:-}"
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export GZ_SIM_RESOURCE_PATH="$PROJECT_DIR/models:$PROJECT_DIR/worlds:${GZ_SIM_RESOURCE_PATH:-}"
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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:$GAZEBO_RESOURCE_PATH"
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if [ -d "$ARDUPILOT_GZ" ]; then
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export GZ_SIM_SYSTEM_PLUGIN_PATH="$ARDUPILOT_GZ/build:${GZ_SIM_SYSTEM_PLUGIN_PATH:-}"
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export GZ_SIM_RESOURCE_PATH="$ARDUPILOT_GZ/models:$ARDUPILOT_GZ/worlds:$GZ_SIM_RESOURCE_PATH"
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fi
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# Find world file
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WORLD_FILE=""
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if [ -f "$PROJECT_DIR/worlds/${WORLD_NAME}.sdf" ]; then
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WORLD_FILE="$PROJECT_DIR/worlds/${WORLD_NAME}.sdf"
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elif [ -f "$ARDUPILOT_GZ/worlds/${WORLD_NAME}.sdf" ]; then
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WORLD_FILE="$ARDUPILOT_GZ/worlds/${WORLD_NAME}.sdf"
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elif [ -f "$WORLD_NAME" ]; then
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WORLD_FILE="$WORLD_NAME"
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else
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echo -e "${RED}ERROR: World file not found: $WORLD_NAME${NC}"
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echo ""
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echo "Available worlds:"
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echo " Project worlds:"
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ls "$PROJECT_DIR/worlds/"*.sdf 2>/dev/null | xargs -I {} basename {} .sdf || echo " (none)"
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echo " ArduPilot Gazebo worlds:"
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ls "$ARDUPILOT_GZ/worlds/"*.sdf 2>/dev/null | xargs -I {} basename {} .sdf || echo " (none)"
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exit 1
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fi
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# WSL/Display setup
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if $IS_WSL; then
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if [ -f "$PROJECT_DIR/wsl_env.sh" ]; then
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source "$PROJECT_DIR/wsl_env.sh"
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fi
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if [ -z "$DISPLAY" ]; then
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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: $DISPLAY${NC}"
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fi
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@@ -140,15 +147,12 @@ cleanup() {
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echo ""
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echo -e "${YELLOW}Shutting down simulation...${NC}"
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# Kill processes
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pkill -f "sim_vehicle.py" 2>/dev/null || true
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pkill -f "mavproxy" 2>/dev/null || true
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pkill -f "ArduCopter" 2>/dev/null || true
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pkill -f "ArduRover" 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 "gazebo" 2>/dev/null || true
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pkill -f "mavros" 2>/dev/null || true
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pkill -f "arducopter" 2>/dev/null || true
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pkill -f "ardurover" 2>/dev/null || true
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pkill -f "ruby" 2>/dev/null || true # gz sim uses ruby
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pkill -f "gz sim" 2>/dev/null || true
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sleep 2
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echo -e "${GREEN}Cleanup complete.${NC}"
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@@ -156,125 +160,78 @@ cleanup() {
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trap cleanup EXIT INT TERM
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# Activate virtual environment
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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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# Use ardupilot_gazebo iris world if no custom world specified
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if [ ! -f "$WORLD" ]; then
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if [ -f "$HOME/ardupilot_gazebo/worlds/iris_arducopter_runway.world" ]; then
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WORLD="$HOME/ardupilot_gazebo/worlds/iris_arducopter_runway.world"
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else
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echo -e "${RED}ERROR: World file not found: $WORLD${NC}"
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# Check ArduPilot installation
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if [ ! -d "$ARDUPILOT_HOME" ]; then
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echo -e "${RED}ERROR: ArduPilot not found at $ARDUPILOT_HOME${NC}"
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echo "Run setup.sh first to install ArduPilot"
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exit 1
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fi
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# Check Gazebo plugin
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if [ ! -f "$ARDUPILOT_GZ/build/libArduPilotPlugin.so" ]; then
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echo -e "${RED}ERROR: ArduPilot Gazebo plugin not found${NC}"
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echo "Run setup.sh first to build the plugin"
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exit 1
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fi
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echo ""
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echo -e "${GREEN}Configuration:${NC}"
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echo " Vehicle: $VEHICLE"
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echo " World: $(basename $WORLD)"
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echo " World: $(basename $WORLD_FILE .sdf)"
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echo " Instance: $INSTANCE"
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echo ""
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# Calculate ports
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MAVLINK_PORT=$((14550 + INSTANCE * 10))
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SITL_PORT=$((5760 + INSTANCE * 10))
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# Start Gazebo in background
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echo -e "${GREEN}Starting Gazebo...${NC}"
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gazebo --verbose "$WORLD" &
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GAZEBO_PID=$!
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gz sim -v4 -r "$WORLD_FILE" &
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GZ_PID=$!
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sleep 5
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# Check if Gazebo started
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if ! kill -0 $GAZEBO_PID 2>/dev/null; then
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if ! kill -0 $GZ_PID 2>/dev/null; then
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echo -e "${RED}ERROR: Gazebo failed to start${NC}"
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exit 1
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fi
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echo -e "${GREEN}Gazebo running (PID: $GAZEBO_PID)${NC}"
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echo -e "${GREEN}Gazebo running (PID: $GZ_PID)${NC}"
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# Start ArduPilot SITL
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echo -e "${GREEN}Starting ArduPilot SITL...${NC}"
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cd "$ARDUPILOT_HOME"
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if [ "$VEHICLE" = "copter" ]; then
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VEHICLE_DIR="ArduCopter"
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FRAME="gazebo-iris"
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elif [ "$VEHICLE" = "rover" ]; then
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VEHICLE_DIR="Rover"
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FRAME="gazebo-rover"
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else
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VEHICLE_DIR="ArduCopter"
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FRAME="gazebo-iris"
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fi
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export PATH=$PATH:$ARDUPILOT_HOME/Tools/autotest:$HOME/.local/bin
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cd "$ARDUPILOT_HOME/$VEHICLE_DIR"
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# Start sim_vehicle.py in background
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python3 "$ARDUPILOT_HOME/Tools/autotest/sim_vehicle.py" \
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-v "$VEHICLE_DIR" \
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-f "$FRAME" \
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--no-mavproxy \
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-I "$INSTANCE" \
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--no-rebuild \
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sim_vehicle.py \
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-v $VEHICLE \
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-f gazebo-iris \
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--model JSON \
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-I $INSTANCE \
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--console \
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&
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SITL_PID=$!
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sleep 10
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# Check if SITL started
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if ! kill -0 $SITL_PID 2>/dev/null; then
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echo -e "${RED}ERROR: ArduPilot SITL failed to start${NC}"
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exit 1
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fi
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echo -e "${GREEN}ArduPilot SITL running (PID: $SITL_PID)${NC}"
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# Start MAVROS
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echo -e "${GREEN}Starting MAVROS...${NC}"
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ros2 run mavros mavros_node --ros-args \
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-p fcu_url:="udp://127.0.0.1:${MAVLINK_PORT}@" \
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-p gcs_url:="" \
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-p target_system_id:=1 \
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-p target_component_id:=1 \
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&>/dev/null &
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MAVROS_PID=$!
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sleep 5
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echo ""
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echo -e "${GREEN}==========================================${NC}"
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echo -e "${GREEN} Simulation Running${NC}"
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echo -e "${GREEN}==========================================${NC}"
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echo ""
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echo -e "${BLUE}Components:${NC}"
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echo " - Gazebo: PID $GAZEBO_PID"
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echo " - Gazebo: PID $GZ_PID"
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echo " - ArduPilot SITL: PID $SITL_PID"
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echo " - MAVROS: PID $MAVROS_PID"
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echo ""
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echo -e "${BLUE}MAVROS Topics:${NC}"
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echo " ros2 topic list | grep mavros"
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echo ""
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echo -e "${BLUE}Control UAV:${NC}"
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echo " # Arm"
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echo " ros2 service call /mavros/cmd/arming mavros_msgs/srv/CommandBool \"{value: true}\""
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echo ""
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echo " # Set mode to GUIDED"
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echo " ros2 service call /mavros/set_mode mavros_msgs/srv/SetMode \"{base_mode: 0, custom_mode: 'GUIDED'}\""
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echo ""
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echo " # Takeoff to 5 meters"
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echo " ros2 service call /mavros/cmd/takeoff mavros_msgs/srv/CommandTOL \"{altitude: 5}\""
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echo ""
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echo " # Send position setpoint (x, y, z in meters)"
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echo " ros2 topic pub /mavros/setpoint_position/local geometry_msgs/PoseStamped \\"
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echo " \"{header: {frame_id: 'map'}, pose: {position: {x: 10, y: 5, z: 5}}}\""
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echo -e "${BLUE}MAVProxy Commands (in console):${NC}"
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echo " mode guided # Switch to GUIDED mode"
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echo " arm throttle # Arm the drone"
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echo " takeoff 5 # Takeoff to 5 meters"
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echo " guided 10 5 -10 # Fly to position (N, E, D)"
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echo " rtl # Return to launch"
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echo " land # Land"
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echo ""
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echo -e "${YELLOW}Press Ctrl+C to stop simulation${NC}"
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echo ""
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# Wait for all processes
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# Wait for processes
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wait
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466
setup.sh
466
setup.sh
@@ -1,7 +1,14 @@
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#!/bin/bash
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# =============================================================================
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# UAV-UGV Simulation - Complete Installation Script
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# =============================================================================
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# Installs everything needed for GPS-denied navigation simulation
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# Compatible with Ubuntu 22.04/24.04 and WSL2
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#
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# Usage:
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# ./setup.sh # Full installation
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# ./setup.sh --skip-ardupilot # Skip ArduPilot (Gazebo only)
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# =============================================================================
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set -e
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@@ -36,6 +43,14 @@ print_error() {
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echo -e "${RED}ERROR: $1${NC}"
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}
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# Get script directory
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SCRIPT_DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" && pwd)"
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cd "$SCRIPT_DIR"
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# ArduPilot directories
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ARDUPILOT_HOME="$HOME/ardupilot"
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ARDUPILOT_GZ="$HOME/ardupilot_gazebo"
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# Detect environment
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detect_environment() {
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IS_WSL=false
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@@ -43,7 +58,7 @@ detect_environment() {
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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 [ -f /run/WSL ] || grep -qi "wsl2" /proc/version 2>/dev/null; then
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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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@@ -53,47 +68,65 @@ detect_environment() {
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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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else
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UBUNTU_VERSION="22.04"
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UBUNTU_CODENAME="jammy"
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fi
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# Determine ROS distro
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case "$UBUNTU_VERSION" in
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"22.04") ROS_DISTRO="humble" ;;
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"24.04") ROS_DISTRO="jazzy" ;;
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"20.04") ROS_DISTRO="galactic" ;;
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*) ROS_DISTRO="humble" ;;
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esac
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# Determine ROS distro and compatible repository codename
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if [ "$UBUNTU_VERSION" = "24.04" ]; then
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ROS_DISTRO="jazzy"
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ROS_UBUNTU_CODENAME="noble"
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elif [ "$UBUNTU_VERSION" = "22.04" ]; then
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ROS_DISTRO="humble"
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ROS_UBUNTU_CODENAME="jammy"
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else
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# For newer versions, use latest available
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UBUNTU_MAJOR=$(echo "$UBUNTU_VERSION" | cut -d. -f1)
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if [ "$UBUNTU_MAJOR" -ge 24 ] 2>/dev/null; then
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ROS_DISTRO="jazzy"
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ROS_UBUNTU_CODENAME="noble"
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else
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ROS_DISTRO="humble"
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ROS_UBUNTU_CODENAME="jammy"
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fi
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fi
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}
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SCRIPT_DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" && pwd)"
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cd "$SCRIPT_DIR"
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# Parse arguments
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INSTALL_ARDUPILOT=true
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for arg in "$@"; do
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if [ "$arg" = "--skip-ardupilot" ]; then
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INSTALL_ARDUPILOT=false
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||||
fi
|
||||
done
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||||
|
||||
detect_environment
|
||||
|
||||
print_header "UAV-UGV Simulation - Complete Setup"
|
||||
echo "GPS-Denied Navigation with Geofencing"
|
||||
echo ""
|
||||
|
||||
detect_environment
|
||||
|
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echo -e "${CYAN}Detected Environment:${NC}"
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echo " Ubuntu: $UBUNTU_VERSION ($UBUNTU_CODENAME)"
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echo " WSL: $IS_WSL | WSL2: $IS_WSL2"
|
||||
echo " ROS 2 Target: $ROS_DISTRO"
|
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echo " ArduPilot: $INSTALL_ARDUPILOT"
|
||||
echo ""
|
||||
|
||||
if [ "$INSTALL_ARDUPILOT" = true ]; then
|
||||
TOTAL_STEPS=10
|
||||
else
|
||||
TOTAL_STEPS=7
|
||||
fi
|
||||
STEP=1
|
||||
|
||||
# ============================================================================
|
||||
# STEP 1: System Update
|
||||
# STEP 1: System Update & Dependencies
|
||||
# ============================================================================
|
||||
print_step $STEP "Updating system packages"
|
||||
sudo apt-get update
|
||||
sudo apt-get upgrade -y
|
||||
((STEP++))
|
||||
print_step $STEP "Installing system dependencies"
|
||||
|
||||
# ============================================================================
|
||||
# STEP 2: Install Base Dependencies
|
||||
# ============================================================================
|
||||
print_step $STEP "Installing base dependencies"
|
||||
sudo apt-get update
|
||||
sudo apt-get install -y \
|
||||
curl \
|
||||
gnupg \
|
||||
@@ -116,9 +149,15 @@ sudo apt-get install -y \
|
||||
libopencv-dev \
|
||||
libxml2-dev \
|
||||
libxslt1-dev \
|
||||
libgstreamer1.0-dev \
|
||||
libgstreamer-plugins-base1.0-dev \
|
||||
gstreamer1.0-plugins-bad \
|
||||
gstreamer1.0-libav \
|
||||
gstreamer1.0-gl \
|
||||
ccache \
|
||||
gawk \
|
||||
libtool-bin
|
||||
libtool-bin \
|
||||
netcat-openbsd
|
||||
|
||||
# WSL-specific packages
|
||||
if $IS_WSL; then
|
||||
@@ -133,143 +172,194 @@ fi
|
||||
((STEP++))
|
||||
|
||||
# ============================================================================
|
||||
# STEP 3: Install ROS 2
|
||||
# STEP 2: Install ROS 2
|
||||
# ============================================================================
|
||||
print_step $STEP "Installing ROS 2 $ROS_DISTRO"
|
||||
|
||||
if [ ! -d "/opt/ros/$ROS_DISTRO" ]; then
|
||||
# Add ROS 2 repository
|
||||
if [ ! -f /usr/share/keyrings/ros-archive-keyring.gpg ]; then
|
||||
# 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
|
||||
fi
|
||||
|
||||
# Add repository using compatible Ubuntu codename
|
||||
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 $ROS_UBUNTU_CODENAME main" | \
|
||||
sudo tee /etc/apt/sources.list.d/ros2.list > /dev/null
|
||||
|
||||
sudo apt-get update
|
||||
sudo apt-get install -y ros-${ROS_DISTRO}-desktop python3-colcon-common-extensions
|
||||
else
|
||||
print_info "ROS 2 $ROS_DISTRO already installed"
|
||||
fi
|
||||
((STEP++))
|
||||
|
||||
# ============================================================================
|
||||
# STEP 4: Install ROS 2 Packages
|
||||
# ============================================================================
|
||||
print_step $STEP "Installing ROS 2 packages"
|
||||
# Install ROS 2
|
||||
sudo apt-get install -y \
|
||||
ros-${ROS_DISTRO}-mavros \
|
||||
ros-${ROS_DISTRO}-mavros-extras \
|
||||
ros-${ROS_DISTRO}-cv-bridge \
|
||||
ros-${ROS_DISTRO}-image-transport \
|
||||
ros-${ROS_DISTRO}-tf2 \
|
||||
ros-${ROS_DISTRO}-tf2-ros \
|
||||
ros-${ROS_DISTRO}-tf2-geometry-msgs \
|
||||
ros-${ROS_DISTRO}-gazebo-ros-pkgs 2>/dev/null || \
|
||||
print_warning "Some ROS packages not available for $ROS_DISTRO"
|
||||
ros-${ROS_DISTRO}-ros-base \
|
||||
ros-${ROS_DISTRO}-geometry-msgs \
|
||||
ros-${ROS_DISTRO}-std-msgs \
|
||||
ros-${ROS_DISTRO}-nav-msgs \
|
||||
ros-${ROS_DISTRO}-sensor-msgs \
|
||||
python3-colcon-common-extensions || {
|
||||
print_error "Failed to install ROS 2 $ROS_DISTRO"
|
||||
exit 1
|
||||
}
|
||||
|
||||
# Install GeographicLib datasets for MAVROS
|
||||
GEOGRAPHICLIB_SCRIPT="/opt/ros/${ROS_DISTRO}/lib/mavros/install_geographiclib_datasets.sh"
|
||||
if [ -f "$GEOGRAPHICLIB_SCRIPT" ]; then
|
||||
if [ ! -f /usr/share/GeographicLib/geoids/egm96-5.pgm ]; then
|
||||
print_info "Installing GeographicLib datasets (this may take a minute)"
|
||||
sudo "$GEOGRAPHICLIB_SCRIPT" || print_warning "GeographicLib installation failed"
|
||||
fi
|
||||
fi
|
||||
# Install ros-gz bridge
|
||||
sudo apt-get install -y ros-${ROS_DISTRO}-ros-gz || \
|
||||
print_warning "Could not install ros-gz bridge"
|
||||
|
||||
print_info "ROS 2 $ROS_DISTRO installed"
|
||||
((STEP++))
|
||||
|
||||
# ============================================================================
|
||||
# STEP 5: Install Gazebo
|
||||
# STEP 3: Install Gazebo (Harmonic or Garden)
|
||||
# ============================================================================
|
||||
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++))
|
||||
|
||||
# ============================================================================
|
||||
# STEP 6: Install ArduPilot SITL
|
||||
# ============================================================================
|
||||
print_step $STEP "Installing ArduPilot SITL"
|
||||
# Add Gazebo repository
|
||||
GZ_UBUNTU_CODENAME="$ROS_UBUNTU_CODENAME"
|
||||
sudo wget -q https://packages.osrfoundation.org/gazebo.gpg \
|
||||
-O /usr/share/keyrings/pkgs-osrf-archive-keyring.gpg 2>/dev/null || true
|
||||
|
||||
ARDUPILOT_HOME="$HOME/ardupilot"
|
||||
if [ ! -d "$ARDUPILOT_HOME" ]; then
|
||||
print_info "Cloning ArduPilot repository..."
|
||||
cd "$HOME"
|
||||
git clone --recurse-submodules https://github.com/ArduPilot/ardupilot.git
|
||||
cd ardupilot
|
||||
git submodule update --init --recursive
|
||||
echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/pkgs-osrf-archive-keyring.gpg] \
|
||||
http://packages.osrfoundation.org/gazebo/ubuntu-stable $GZ_UBUNTU_CODENAME main" | \
|
||||
sudo tee /etc/apt/sources.list.d/gazebo-stable.list > /dev/null
|
||||
|
||||
sudo apt-get update
|
||||
|
||||
# Try Gazebo Harmonic first, then Garden
|
||||
GZ_VERSION=""
|
||||
if sudo apt-get install -y gz-harmonic 2>/dev/null; then
|
||||
GZ_VERSION="harmonic"
|
||||
# Install Harmonic development packages for building plugins
|
||||
sudo apt-get install -y \
|
||||
libgz-cmake3-dev \
|
||||
libgz-sim8-dev \
|
||||
libgz-plugin2-dev \
|
||||
libgz-common5-dev \
|
||||
libgz-physics7-dev \
|
||||
libgz-sensors8-dev \
|
||||
libgz-rendering8-dev \
|
||||
libgz-transport13-dev \
|
||||
libgz-msgs10-dev \
|
||||
rapidjson-dev \
|
||||
2>/dev/null || print_warning "Some Gazebo dev packages may be missing"
|
||||
elif sudo apt-get install -y gz-garden 2>/dev/null; then
|
||||
GZ_VERSION="garden"
|
||||
# Install Garden development packages
|
||||
sudo apt-get install -y \
|
||||
libgz-cmake3-dev \
|
||||
libgz-sim7-dev \
|
||||
libgz-plugin2-dev \
|
||||
libgz-common5-dev \
|
||||
libgz-physics6-dev \
|
||||
libgz-sensors7-dev \
|
||||
libgz-rendering7-dev \
|
||||
libgz-transport12-dev \
|
||||
libgz-msgs9-dev \
|
||||
rapidjson-dev \
|
||||
2>/dev/null || print_warning "Some Gazebo dev packages may be missing"
|
||||
else
|
||||
print_info "ArduPilot already exists, updating..."
|
||||
cd "$ARDUPILOT_HOME"
|
||||
git fetch origin
|
||||
git submodule update --init --recursive
|
||||
print_warning "Could not install Gazebo Harmonic/Garden"
|
||||
GZ_VERSION="none"
|
||||
fi
|
||||
|
||||
# Install ArduPilot prerequisites
|
||||
print_info "Installing ArduPilot prerequisites..."
|
||||
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
|
||||
if command -v gz &> /dev/null; then
|
||||
print_info "Gazebo $GZ_VERSION installed"
|
||||
else
|
||||
print_info "ardupilot_gazebo already exists, updating..."
|
||||
cd "$ARDUPILOT_GAZEBO_HOME"
|
||||
git pull origin main || true
|
||||
print_warning "Gazebo command not found"
|
||||
fi
|
||||
|
||||
cd "$ARDUPILOT_GAZEBO_HOME"
|
||||
mkdir -p build && cd build
|
||||
cmake ..
|
||||
make -j$(nproc)
|
||||
sudo make install
|
||||
((STEP++))
|
||||
|
||||
# ============================================================================
|
||||
# STEP 8: Setup Python Virtual Environment
|
||||
# STEP 4: Python Virtual Environment
|
||||
# ============================================================================
|
||||
print_step $STEP "Setting up Python environment"
|
||||
|
||||
cd "$SCRIPT_DIR"
|
||||
|
||||
if [ ! -d "venv" ]; then
|
||||
python3 -m venv venv
|
||||
if [ -d "$SCRIPT_DIR/venv" ]; then
|
||||
rm -rf "$SCRIPT_DIR/venv"
|
||||
fi
|
||||
|
||||
source venv/bin/activate
|
||||
python3 -m venv "$SCRIPT_DIR/venv"
|
||||
source "$SCRIPT_DIR/venv/bin/activate"
|
||||
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
|
||||
((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 $IS_WSL; then
|
||||
cat > "$SCRIPT_DIR/wsl_env.sh" << 'WSLEOF'
|
||||
#!/bin/bash
|
||||
@@ -285,77 +375,120 @@ export LIBGL_ALWAYS_INDIRECT=0
|
||||
export MESA_GL_VERSION_OVERRIDE=3.3
|
||||
export MESA_GLSL_VERSION_OVERRIDE=330
|
||||
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
|
||||
chmod +x "$SCRIPT_DIR/wsl_env.sh"
|
||||
fi
|
||||
((STEP++))
|
||||
|
||||
# Create activation script
|
||||
cat > "$SCRIPT_DIR/activate_venv.sh" << EOF
|
||||
#!/bin/bash
|
||||
SCRIPT_DIR="\$(cd "\$(dirname "\${BASH_SOURCE[0]}")" && pwd)"
|
||||
# ============================================================================
|
||||
# ARDUPILOT INSTALLATION (if not skipped)
|
||||
# ============================================================================
|
||||
if [ "$INSTALL_ARDUPILOT" = true ]; then
|
||||
|
||||
# ROS 2
|
||||
source /opt/ros/${ROS_DISTRO}/setup.bash
|
||||
# ========================================================================
|
||||
# STEP 7: Clone and Setup ArduPilot
|
||||
# ========================================================================
|
||||
print_step $STEP "Setting up ArduPilot SITL"
|
||||
|
||||
# Gazebo
|
||||
[ -f /usr/share/gazebo/setup.bash ] && source /usr/share/gazebo/setup.bash
|
||||
[ -f /usr/share/gazebo-11/setup.bash ] && source /usr/share/gazebo-11/setup.bash
|
||||
|
||||
# Python venv
|
||||
source "\$SCRIPT_DIR/venv/bin/activate"
|
||||
|
||||
# Gazebo paths
|
||||
export GAZEBO_MODEL_PATH="\$SCRIPT_DIR/models:\$HOME/ardupilot_gazebo/models:\${GAZEBO_MODEL_PATH:-}"
|
||||
export GAZEBO_RESOURCE_PATH="\$SCRIPT_DIR/worlds:\$HOME/ardupilot_gazebo/worlds:\${GAZEBO_RESOURCE_PATH:-}"
|
||||
|
||||
# ArduPilot
|
||||
export PATH="\$PATH:\$HOME/ardupilot/Tools/autotest"
|
||||
export ARDUPILOT_HOME="\$HOME/ardupilot"
|
||||
|
||||
# WSL
|
||||
if grep -qEi "(microsoft|wsl)" /proc/version 2>/dev/null; then
|
||||
[ -f "\$SCRIPT_DIR/wsl_env.sh" ] && source "\$SCRIPT_DIR/wsl_env.sh"
|
||||
if [ ! -d "$ARDUPILOT_HOME" ]; then
|
||||
print_info "Cloning ArduPilot repository..."
|
||||
git clone --recurse-submodules https://github.com/ArduPilot/ardupilot.git "$ARDUPILOT_HOME"
|
||||
else
|
||||
print_info "ArduPilot directory already exists"
|
||||
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 "Run simulation: bash scripts/run_simulation.sh"
|
||||
echo "With rendering: bash scripts/run_simulation.sh --software-render"
|
||||
EOF
|
||||
chmod +x "$SCRIPT_DIR/activate_venv.sh"
|
||||
|
||||
command -v sim_vehicle.py &> /dev/null && echo "[OK] sim_vehicle.py" || echo "[WARN] sim_vehicle.py not found"
|
||||
command -v gz &> /dev/null && echo "[OK] Gazebo (gz)" || echo "[WARN] Gazebo not found"
|
||||
command -v mavproxy.py &> /dev/null && echo "[OK] MAVProxy" || echo "[WARN] MAVProxy not in PATH"
|
||||
[ -f "$ARDUPILOT_GZ/build/libArduPilotPlugin.so" ] && echo "[OK] ArduPilot Gazebo plugin" || echo "[WARN] Plugin not built"
|
||||
((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 "$SCRIPT_DIR/activate_venv.sh" 2>/dev/null || true
|
||||
((STEP++))
|
||||
|
||||
# ============================================================================
|
||||
# COMPLETE
|
||||
# ============================================================================
|
||||
print_header "Installation Complete!"
|
||||
|
||||
echo -e "${GREEN}All components installed:${NC}"
|
||||
echo -e "${GREEN}Components installed:${NC}"
|
||||
echo " - ROS 2 $ROS_DISTRO"
|
||||
echo " - Gazebo"
|
||||
echo " - Gazebo $GZ_VERSION"
|
||||
if [ "$INSTALL_ARDUPILOT" = true ]; then
|
||||
echo " - ArduPilot SITL ($ARDUPILOT_HOME)"
|
||||
echo " - ardupilot_gazebo ($ARDUPILOT_GAZEBO_HOME)"
|
||||
echo " - MAVROS"
|
||||
echo " - ardupilot_gazebo ($ARDUPILOT_GZ)"
|
||||
fi
|
||||
echo " - Python dependencies"
|
||||
echo ""
|
||||
|
||||
if $IS_WSL; then
|
||||
echo -e "${YELLOW}WSL Setup Notes:${NC}"
|
||||
echo " - GUI apps require WSLg (Windows 11) or VcXsrv (Windows 10)"
|
||||
echo " - Use --software-render flag if graphics are slow"
|
||||
echo -e "${YELLOW}WSL Notes:${NC}"
|
||||
echo " - GUI requires WSLg (Win11) or VcXsrv (Win10)"
|
||||
echo " - Use --software-render if graphics are slow"
|
||||
echo ""
|
||||
fi
|
||||
|
||||
@@ -364,10 +497,5 @@ echo ""
|
||||
echo " cd $SCRIPT_DIR"
|
||||
echo " source activate_venv.sh"
|
||||
echo " bash scripts/run_simulation.sh"
|
||||
if $IS_WSL; then
|
||||
echo ""
|
||||
echo " # Or with software rendering for WSL:"
|
||||
echo " bash scripts/run_simulation.sh --software-render"
|
||||
fi
|
||||
echo ""
|
||||
echo -e "${GREEN}==========================================${NC}"
|
||||
|
||||
Reference in New Issue
Block a user