SirBlob/simulation
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

Update Install Scripts

Browse Source
This commit is contained in:
default
2026-02-09 04:20:22 +00:00
parent e70d4a8fcd
commit 5c0d3e2fb4
10 changed files with 1072 additions and 836 deletions
Download Patch File Download Diff File Expand all files Collapse all files

244
scripts/run_simulation.sh
View File

@@ -1,7 +1,9 @@
#!/bin/bash
# Full simulation launch script with ArduPilot SITL
# This script launches Gazebo, ArduPilot SITL, and MAVROS
set -e
# Colors
RED='\033[0;31m'
GREEN='\033[0;32m'
YELLOW='\033[1;33m'
@@ -35,16 +37,26 @@ done
if [ -z "$ROS_DISTRO" ]; then
echo -e "${RED}ERROR: No ROS 2 installation found!${NC}"
echo "Please install ROS 2 first. See docs/setup_guide.md or docs/wsl_setup_guide.md"
echo "Please install ROS 2 first. See docs/setup_guide.md"
exit 1
fi
echo -e "${GREEN}Using ROS 2: $ROS_DISTRO${NC}"
# Source ROS 2
# 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/${ROS_DISTRO}/setup.bash
# Source Gazebo setup (CRITICAL for shader paths)
if [ -f /usr/share/gazebo/setup.bash ]; then
source /usr/share/gazebo/setup.bash
elif [ -f /usr/share/gazebo-11/setup.bash ]; then
@@ -52,9 +64,10 @@ elif [ -f /usr/share/gazebo-11/setup.bash ]; then
fi
# Parse arguments
WORLD=""
WORLD="$PROJECT_DIR/worlds/iris_runway.world"
VEHICLE="copter"
USE_SOFTWARE_RENDER=false
HEADLESS=false
INSTANCE=0
while [[ $# -gt 0 ]]; do
case $1 in
@@ -62,34 +75,32 @@ while [[ $# -gt 0 ]]; do
WORLD="$2"
shift 2
;;
--headless)
HEADLESS=true
shift
--vehicle)
VEHICLE="$2"
shift 2
;;
--no-gpu|--software-render)
--software-render)
USE_SOFTWARE_RENDER=true
shift
;;
--instance)
INSTANCE="$2"
shift 2
;;
--help)
echo "Usage: $0 [OPTIONS] [WORLD_FILE]"
echo "Usage: $0 [OPTIONS]"
echo ""
echo "Options:"
echo " --world FILE Specify world file (default: empty_custom.world)"
echo " --headless Run without GUI (gzserver only)"
echo " --software-render Force software rendering (recommended for WSL)"
echo " --help Show this help"
echo ""
echo "Examples:"
echo " $0 # Default world"
echo " $0 worlds/indoor_warehouse.world # Indoor environment"
echo " $0 --software-render # For WSL without GPU"
echo " --world FILE World file (default: iris_runway.world)"
echo " --vehicle TYPE Vehicle type: copter, rover (default: copter)"
echo " --software-render Force software rendering (for WSL)"
echo " --instance N Vehicle instance number (default: 0)"
echo " --help Show this help"
exit 0
;;
*)
if [ -f "$1" ]; then
WORLD="$1"
elif [ -f "$PROJECT_DIR/$1" ]; then
WORLD="$PROJECT_DIR/$1"
elif [ -f "$PROJECT_DIR/worlds/$1" ]; then
WORLD="$PROJECT_DIR/worlds/$1"
fi
@@ -98,109 +109,172 @@ while [[ $# -gt 0 ]]; do
esac
done
# Default world
if [ -z "$WORLD" ]; then
WORLD="$PROJECT_DIR/worlds/empty_custom.world"
fi
# Validate world file
if [ ! -f "$WORLD" ]; then
echo -e "${RED}ERROR: World file not found: $WORLD${NC}"
echo "Available worlds:"
ls -1 "$PROJECT_DIR/worlds/"*.world 2>/dev/null || echo " (none found)"
exit 1
fi
# Setup Gazebo paths
export GAZEBO_MODEL_PATH="$PROJECT_DIR/models:${GAZEBO_MODEL_PATH:-}"
export GAZEBO_RESOURCE_PATH="$PROJECT_DIR/worlds:${GAZEBO_RESOURCE_PATH:-}"
# ArduPilot Gazebo paths (if installed)
if [ -d "$HOME/ardupilot_gazebo" ]; then
export GAZEBO_MODEL_PATH="$HOME/ardupilot_gazebo/models:$GAZEBO_MODEL_PATH"
export GAZEBO_RESOURCE_PATH="$HOME/ardupilot_gazebo/worlds:$GAZEBO_RESOURCE_PATH"
fi
# WSL-specific setup
# WSL/Display setup
if $IS_WSL; then
# Source WSL environment if exists
if [ -f "$PROJECT_DIR/wsl_env.sh" ]; then
source "$PROJECT_DIR/wsl_env.sh"
fi
# Set DISPLAY if not set
if [ -z "$DISPLAY" ]; then
if [ -d "/mnt/wslg" ]; then
export DISPLAY=:0
else
export DISPLAY=$(cat /etc/resolv.conf | grep nameserver | awk '{print $2}'):0
fi
export DISPLAY=:0
fi
echo -e "${BLUE}DISPLAY: $DISPLAY${NC}"
# Force software rendering in WSL by default if having issues
if ! $USE_SOFTWARE_RENDER; then
echo -e "${YELLOW}TIP: If Gazebo crashes or has rendering issues, use --software-render${NC}"
fi
fi
# Apply software rendering if requested or in WSL with issues
if $USE_SOFTWARE_RENDER; then
echo -e "${YELLOW}Using software rendering${NC}"
export LIBGL_ALWAYS_SOFTWARE=1
export MESA_GL_VERSION_OVERRIDE=3.3
export MESA_GLSL_VERSION_OVERRIDE=330
fi
# Cleanup function
cleanup() {
echo ""
echo -e "${YELLOW}Shutting down simulation...${NC}"
# Kill processes
pkill -f "sim_vehicle.py" 2>/dev/null || true
pkill -f "mavproxy" 2>/dev/null || true
pkill -f "ArduCopter" 2>/dev/null || true
pkill -f "ArduRover" 2>/dev/null || true
pkill -f "gzserver" 2>/dev/null || true
pkill -f "gzclient" 2>/dev/null || true
pkill -f "gazebo" 2>/dev/null || true
sleep 1
pkill -f "mavros" 2>/dev/null || true
sleep 2
echo -e "${GREEN}Cleanup complete.${NC}"
}
trap cleanup EXIT INT TERM
# Activate virtual environment if exists
# Activate virtual environment
if [ -f "$PROJECT_DIR/venv/bin/activate" ]; then
source "$PROJECT_DIR/venv/bin/activate"
fi
# Source workspace if built
if [ -f "$PROJECT_DIR/../install/setup.bash" ]; then
source "$PROJECT_DIR/../install/setup.bash"
elif [ -f "$PROJECT_DIR/install/setup.bash" ]; then
source "$PROJECT_DIR/install/setup.bash"
fi
echo ""
echo -e "${GREEN}Starting simulation with world: $(basename $WORLD)${NC}"
echo -e "${BLUE}World path: $WORLD${NC}"
echo ""
# Check if ROS package exists
ROS_PKG_EXISTS=false
if ros2 pkg list 2>/dev/null | grep -q "uav_ugv_simulation"; then
ROS_PKG_EXISTS=true
fi
# Launch simulation
if $ROS_PKG_EXISTS; then
echo -e "${GREEN}Launching via ROS 2...${NC}"
ros2 launch uav_ugv_simulation full_simulation.launch.py world:="$WORLD"
else
echo -e "${YELLOW}ROS package not built. Launching Gazebo directly...${NC}"
echo -e "${BLUE}To build the package: cd ~/ros2_ws && colcon build --packages-select uav_ugv_simulation${NC}"
echo ""
if $HEADLESS; then
gzserver --verbose "$WORLD"
# 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="$HOME/ardupilot_gazebo/worlds/iris_arducopter_runway.world"
else
gazebo --verbose "$WORLD"
echo -e "${RED}ERROR: World file not found: $WORLD${NC}"
exit 1
fi
fi
echo ""
echo -e "${GREEN}Configuration:${NC}"
echo " Vehicle: $VEHICLE"
echo " World: $(basename $WORLD)"
echo " Instance: $INSTANCE"
echo ""
# Calculate ports
MAVLINK_PORT=$((14550 + INSTANCE * 10))
SITL_PORT=$((5760 + INSTANCE * 10))
# Start Gazebo in background
echo -e "${GREEN}Starting Gazebo...${NC}"
gazebo --verbose "$WORLD" &
GAZEBO_PID=$!
sleep 5
# Check if Gazebo started
if ! kill -0 $GAZEBO_PID 2>/dev/null; then
echo -e "${RED}ERROR: Gazebo failed to start${NC}"
exit 1
fi
echo -e "${GREEN}Gazebo running (PID: $GAZEBO_PID)${NC}"
# Start ArduPilot SITL
echo -e "${GREEN}Starting ArduPilot SITL...${NC}"
cd "$ARDUPILOT_HOME"
if [ "$VEHICLE" = "copter" ]; then
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/$VEHICLE_DIR"
# Start sim_vehicle.py in background
python3 "$ARDUPILOT_HOME/Tools/autotest/sim_vehicle.py" \
-v "$VEHICLE_DIR" \
-f "$FRAME" \
--no-mavproxy \
-I "$INSTANCE" \
--no-rebuild \
&
SITL_PID=$!
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 -e "${GREEN}==========================================${NC}"
echo -e "${GREEN} Simulation Running${NC}"
echo -e "${GREEN}==========================================${NC}"
echo ""
echo -e "${BLUE}Components:${NC}"
echo " - Gazebo: PID $GAZEBO_PID"
echo " - ArduPilot SITL: PID $SITL_PID"
echo " - MAVROS: PID $MAVROS_PID"
echo ""
echo -e "${BLUE}MAVROS Topics:${NC}"
echo " ros2 topic list | grep mavros"
echo ""
echo -e "${BLUE}Control UAV:${NC}"
echo " # Arm"
echo " ros2 service call /mavros/cmd/arming mavros_msgs/srv/CommandBool \"{value: true}\""
echo ""
echo " # Set mode to GUIDED"
echo " ros2 service call /mavros/set_mode mavros_msgs/srv/SetMode \"{base_mode: 0, custom_mode: 'GUIDED'}\""
echo ""
echo " # Takeoff to 5 meters"
echo " ros2 service call /mavros/cmd/takeoff mavros_msgs/srv/CommandTOL \"{altitude: 5}\""
echo ""
echo " # Send position setpoint (x, y, z in meters)"
echo " ros2 topic pub /mavros/setpoint_position/local geometry_msgs/PoseStamped \\"
echo " \"{header: {frame_id: 'map'}, pose: {position: {x: 10, y: 5, z: 5}}}\""
echo ""
echo -e "${YELLOW}Press Ctrl+C to stop simulation${NC}"
echo ""
# Wait for all processes
wait