Update Install Scripts
This commit is contained in:
@@ -1,7 +1,9 @@
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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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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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@@ -35,16 +37,26 @@ done
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if [ -z "$ROS_DISTRO" ]; then
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echo -e "${RED}ERROR: No ROS 2 installation found!${NC}"
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echo "Please install ROS 2 first. See docs/setup_guide.md or docs/wsl_setup_guide.md"
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echo "Please install ROS 2 first. See docs/setup_guide.md"
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exit 1
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fi
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echo -e "${GREEN}Using ROS 2: $ROS_DISTRO${NC}"
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# Source ROS 2
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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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source /opt/ros/${ROS_DISTRO}/setup.bash
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# Source Gazebo setup (CRITICAL for shader paths)
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if [ -f /usr/share/gazebo/setup.bash ]; then
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source /usr/share/gazebo/setup.bash
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elif [ -f /usr/share/gazebo-11/setup.bash ]; then
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@@ -52,9 +64,10 @@ elif [ -f /usr/share/gazebo-11/setup.bash ]; then
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fi
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# Parse arguments
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WORLD=""
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WORLD="$PROJECT_DIR/worlds/iris_runway.world"
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VEHICLE="copter"
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USE_SOFTWARE_RENDER=false
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HEADLESS=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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@@ -62,34 +75,32 @@ while [[ $# -gt 0 ]]; do
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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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--vehicle)
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VEHICLE="$2"
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shift 2
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;;
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--no-gpu|--software-render)
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--software-render)
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USE_SOFTWARE_RENDER=true
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shift
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;;
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--instance)
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INSTANCE="$2"
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shift 2
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;;
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--help)
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echo "Usage: $0 [OPTIONS] [WORLD_FILE]"
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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 Specify world file (default: empty_custom.world)"
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echo " --headless Run without GUI (gzserver only)"
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echo " --software-render Force software rendering (recommended for 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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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 " --software-render Force software rendering (for WSL)"
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echo " --instance N Vehicle instance number (default: 0)"
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echo " --help Show this help"
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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/$1" ]; then
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WORLD="$PROJECT_DIR/$1"
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elif [ -f "$PROJECT_DIR/worlds/$1" ]; then
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WORLD="$PROJECT_DIR/worlds/$1"
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fi
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@@ -98,109 +109,172 @@ while [[ $# -gt 0 ]]; do
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esac
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done
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# Default world
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if [ -z "$WORLD" ]; then
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WORLD="$PROJECT_DIR/worlds/empty_custom.world"
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fi
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# Validate world file
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if [ ! -f "$WORLD" ]; then
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echo -e "${RED}ERROR: World file not found: $WORLD${NC}"
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echo "Available worlds:"
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ls -1 "$PROJECT_DIR/worlds/"*.world 2>/dev/null || echo " (none found)"
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exit 1
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fi
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# Setup Gazebo paths
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export GAZEBO_MODEL_PATH="$PROJECT_DIR/models:${GAZEBO_MODEL_PATH:-}"
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export GAZEBO_RESOURCE_PATH="$PROJECT_DIR/worlds:${GAZEBO_RESOURCE_PATH:-}"
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# ArduPilot Gazebo paths (if installed)
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if [ -d "$HOME/ardupilot_gazebo" ]; then
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export GAZEBO_MODEL_PATH="$HOME/ardupilot_gazebo/models:$GAZEBO_MODEL_PATH"
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export GAZEBO_RESOURCE_PATH="$HOME/ardupilot_gazebo/worlds:$GAZEBO_RESOURCE_PATH"
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fi
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# WSL-specific setup
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# WSL/Display 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 "$PROJECT_DIR/wsl_env.sh"
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fi
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# Set DISPLAY if not set
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if [ -z "$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 $2}'):0
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fi
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export DISPLAY=:0
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fi
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echo -e "${BLUE}DISPLAY: $DISPLAY${NC}"
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# Force software rendering in WSL by default if having issues
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if ! $USE_SOFTWARE_RENDER; then
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echo -e "${YELLOW}TIP: If Gazebo crashes or has rendering issues, use --software-render${NC}"
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fi
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fi
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# Apply software rendering if requested or in WSL with issues
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if $USE_SOFTWARE_RENDER; then
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echo -e "${YELLOW}Using software rendering${NC}"
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export LIBGL_ALWAYS_SOFTWARE=1
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export MESA_GL_VERSION_OVERRIDE=3.3
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export MESA_GLSL_VERSION_OVERRIDE=330
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fi
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# Cleanup function
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cleanup() {
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echo ""
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echo -e "${YELLOW}Shutting down simulation...${NC}"
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# Kill processes
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pkill -f "sim_vehicle.py" 2>/dev/null || true
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pkill -f "mavproxy" 2>/dev/null || true
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pkill -f "ArduCopter" 2>/dev/null || true
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pkill -f "ArduRover" 2>/dev/null || true
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pkill -f "gzserver" 2>/dev/null || true
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pkill -f "gzclient" 2>/dev/null || true
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pkill -f "gazebo" 2>/dev/null || true
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sleep 1
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pkill -f "mavros" 2>/dev/null || true
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sleep 2
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echo -e "${GREEN}Cleanup complete.${NC}"
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}
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trap cleanup EXIT INT TERM
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# Activate virtual environment if exists
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# Activate virtual environment
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if [ -f "$PROJECT_DIR/venv/bin/activate" ]; then
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source "$PROJECT_DIR/venv/bin/activate"
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fi
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# Source workspace if built
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if [ -f "$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 "$PROJECT_DIR/install/setup.bash"
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fi
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echo ""
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echo -e "${GREEN}Starting simulation with world: $(basename $WORLD)${NC}"
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echo -e "${BLUE}World path: $WORLD${NC}"
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echo ""
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# Check if ROS package exists
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ROS_PKG_EXISTS=false
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if ros2 pkg list 2>/dev/null | grep -q "uav_ugv_simulation"; then
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ROS_PKG_EXISTS=true
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fi
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# Launch simulation
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if $ROS_PKG_EXISTS; then
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echo -e "${GREEN}Launching via ROS 2...${NC}"
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ros2 launch uav_ugv_simulation full_simulation.launch.py world:="$WORLD"
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else
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echo -e "${YELLOW}ROS package not built. Launching Gazebo directly...${NC}"
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echo -e "${BLUE}To build the package: cd ~/ros2_ws && colcon build --packages-select uav_ugv_simulation${NC}"
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echo ""
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if $HEADLESS; then
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gzserver --verbose "$WORLD"
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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="$HOME/ardupilot_gazebo/worlds/iris_arducopter_runway.world"
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else
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gazebo --verbose "$WORLD"
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echo -e "${RED}ERROR: World file not found: $WORLD${NC}"
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exit 1
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fi
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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 " 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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sleep 5
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# Check if Gazebo started
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if ! kill -0 $GAZEBO_PID 2>/dev/null; then
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echo -e "${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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# 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 [ "$VEHICLE" = "rover" ]; then
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VEHICLE_DIR="Rover"
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FRAME="gazebo-rover"
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else
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VEHICLE_DIR="ArduCopter"
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FRAME="gazebo-iris"
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fi
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cd "$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 "$INSTANCE" \
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--no-rebuild \
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&
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SITL_PID=$!
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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 " - 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:${NC}"
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echo " # Arm"
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echo " ros2 service call /mavros/cmd/arming mavros_msgs/srv/CommandBool \"{value: true}\""
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echo ""
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echo " # Set mode to GUIDED"
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echo " ros2 service call /mavros/set_mode mavros_msgs/srv/SetMode \"{base_mode: 0, custom_mode: 'GUIDED'}\""
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echo ""
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echo " # Takeoff to 5 meters"
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echo " ros2 service call /mavros/cmd/takeoff mavros_msgs/srv/CommandTOL \"{altitude: 5}\""
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echo ""
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echo " # Send position setpoint (x, y, z in meters)"
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echo " ros2 topic pub /mavros/setpoint_position/local geometry_msgs/PoseStamped \\"
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echo " \"{header: {frame_id: 'map'}, pose: {position: {x: 10, y: 5, z: 5}}}\""
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echo ""
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echo -e "${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
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@@ -1,25 +0,0 @@
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#!/bin/bash
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echo "Setting up NVIDIA GPU for Gazebo..."
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if ! command -v nvidia-smi &> /dev/null; then
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echo "NVIDIA driver not found. Skipping GPU setup."
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exit 0
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fi
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echo "NVIDIA GPU detected:"
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nvidia-smi --query-gpu=name,driver_version --format=csv,noheader
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export __NV_PRIME_RENDER_OFFLOAD=1
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export __GLX_VENDOR_LIBRARY_NAME=nvidia
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export VK_ICD_FILENAMES=/usr/share/vulkan/icd.d/nvidia_icd.json
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if [ -f /usr/lib/x86_64-linux-gnu/libEGL_nvidia.so.0 ]; then
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export __EGL_VENDOR_LIBRARY_FILENAMES=/usr/share/glvnd/egl_vendor.d/10_nvidia.json
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fi
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echo "NVIDIA GPU environment configured."
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echo ""
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echo "Add these to your ~/.bashrc for permanent setup:"
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echo " export __NV_PRIME_RENDER_OFFLOAD=1"
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echo " export __GLX_VENDOR_LIBRARY_NAME=nvidia"
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@@ -1,174 +0,0 @@
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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
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sudo apt-get install -y \
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software-properties-common \
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curl \
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gnupg \
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lsb-release \
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x11-apps \
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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
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echo -e "${GREEN}[2/6] Adding ROS 2 repository...${NC}"
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if [ ! -f /usr/share/keyrings/ros-archive-keyring.gpg ]; then
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sudo curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key \
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-o /usr/share/keyrings/ros-archive-keyring.gpg
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fi
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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}"
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if [ ! -d "/opt/ros/$ROS_DISTRO" ]; then
|
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sudo apt-get install -y ros-${ROS_DISTRO}-desktop python3-colcon-common-extensions || {
|
||||
echo -e "${YELLOW}Desktop install failed, trying base...${NC}"
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||||
sudo apt-get install -y ros-${ROS_DISTRO}-ros-base
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}
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else
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echo -e "${BLUE}ROS 2 $ROS_DISTRO already installed${NC}"
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||||
fi
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# Step 4: Install ROS packages
|
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echo -e "${GREEN}[4/6] Installing ROS 2 packages...${NC}"
|
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sudo apt-get install -y \
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||||
ros-${ROS_DISTRO}-mavros \
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||||
ros-${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 ""
|
||||
Reference in New Issue
Block a user