Update Install Scripts
This commit is contained in:
552
setup.sh
552
setup.sh
@@ -1,17 +1,21 @@
|
||||
#!/bin/bash
|
||||
# UAV-UGV Simulation - Complete Installation Script
|
||||
# Installs everything needed for GPS-denied navigation simulation
|
||||
# Compatible with Ubuntu 22.04/24.04 and WSL2
|
||||
|
||||
set -e
|
||||
|
||||
# Colors for output
|
||||
RED='\033[0;31m'
|
||||
GREEN='\033[0;32m'
|
||||
YELLOW='\033[1;33m'
|
||||
BLUE='\033[0;34m'
|
||||
NC='\033[0m' # No Color
|
||||
CYAN='\033[0;36m'
|
||||
NC='\033[0m'
|
||||
|
||||
print_header() {
|
||||
echo ""
|
||||
echo -e "${BLUE}==========================================${NC}"
|
||||
echo -e "${BLUE} UAV-UGV Simulation Setup${NC}"
|
||||
echo -e "${BLUE} GPS-Denied Navigation with Geofencing${NC}"
|
||||
echo -e "${BLUE} $1${NC}"
|
||||
echo -e "${BLUE}==========================================${NC}"
|
||||
echo ""
|
||||
}
|
||||
@@ -20,6 +24,10 @@ print_step() {
|
||||
echo -e "${GREEN}[$1/$TOTAL_STEPS] $2${NC}"
|
||||
}
|
||||
|
||||
print_info() {
|
||||
echo -e "${CYAN}INFO: $1${NC}"
|
||||
}
|
||||
|
||||
print_warning() {
|
||||
echo -e "${YELLOW}WARNING: $1${NC}"
|
||||
}
|
||||
@@ -28,21 +36,14 @@ print_error() {
|
||||
echo -e "${RED}ERROR: $1${NC}"
|
||||
}
|
||||
|
||||
print_info() {
|
||||
echo -e "${BLUE}INFO: $1${NC}"
|
||||
}
|
||||
|
||||
# Detect environment
|
||||
detect_environment() {
|
||||
IS_WSL=false
|
||||
IS_WSL2=false
|
||||
UBUNTU_VERSION=""
|
||||
ROS_DISTRO=""
|
||||
|
||||
# Detect WSL
|
||||
if grep -qEi "(microsoft|wsl)" /proc/version 2>/dev/null; then
|
||||
IS_WSL=true
|
||||
if grep -qi "wsl2" /proc/version 2>/dev/null || [ -f /run/WSL ]; then
|
||||
if [ -f /run/WSL ] || grep -qi "wsl2" /proc/version 2>/dev/null; then
|
||||
IS_WSL2=true
|
||||
fi
|
||||
fi
|
||||
@@ -54,330 +55,319 @@ detect_environment() {
|
||||
UBUNTU_CODENAME="$VERSION_CODENAME"
|
||||
fi
|
||||
|
||||
# Determine ROS distro based on Ubuntu version
|
||||
# Determine ROS distro
|
||||
case "$UBUNTU_VERSION" in
|
||||
"22.04")
|
||||
ROS_DISTRO="humble"
|
||||
;;
|
||||
"24.04")
|
||||
ROS_DISTRO="jazzy"
|
||||
;;
|
||||
"20.04")
|
||||
ROS_DISTRO="galactic"
|
||||
;;
|
||||
*)
|
||||
ROS_DISTRO="humble" # Default fallback
|
||||
;;
|
||||
"22.04") ROS_DISTRO="humble" ;;
|
||||
"24.04") ROS_DISTRO="jazzy" ;;
|
||||
"20.04") ROS_DISTRO="galactic" ;;
|
||||
*) ROS_DISTRO="humble" ;;
|
||||
esac
|
||||
|
||||
echo -e "${BLUE}Detected Environment:${NC}"
|
||||
echo " - Ubuntu: $UBUNTU_VERSION ($UBUNTU_CODENAME)"
|
||||
echo " - WSL: $IS_WSL"
|
||||
echo " - WSL2: $IS_WSL2"
|
||||
echo " - ROS 2 Distro: $ROS_DISTRO"
|
||||
echo ""
|
||||
}
|
||||
|
||||
# Check if ROS 2 is installed
|
||||
check_ros2_installed() {
|
||||
if [ -d "/opt/ros/$ROS_DISTRO" ]; then
|
||||
return 0
|
||||
else
|
||||
return 1
|
||||
SCRIPT_DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" && pwd)"
|
||||
cd "$SCRIPT_DIR"
|
||||
|
||||
print_header "UAV-UGV Simulation - Complete Setup"
|
||||
echo "GPS-Denied Navigation with Geofencing"
|
||||
echo ""
|
||||
|
||||
detect_environment
|
||||
|
||||
echo -e "${CYAN}Detected Environment:${NC}"
|
||||
echo " Ubuntu: $UBUNTU_VERSION ($UBUNTU_CODENAME)"
|
||||
echo " WSL: $IS_WSL | WSL2: $IS_WSL2"
|
||||
echo " ROS 2 Target: $ROS_DISTRO"
|
||||
echo ""
|
||||
|
||||
TOTAL_STEPS=10
|
||||
STEP=1
|
||||
|
||||
# ============================================================================
|
||||
# STEP 1: System Update
|
||||
# ============================================================================
|
||||
print_step $STEP "Updating system packages"
|
||||
sudo apt-get update
|
||||
sudo apt-get upgrade -y
|
||||
((STEP++))
|
||||
|
||||
# ============================================================================
|
||||
# STEP 2: Install Base Dependencies
|
||||
# ============================================================================
|
||||
print_step $STEP "Installing base dependencies"
|
||||
sudo apt-get install -y \
|
||||
curl \
|
||||
gnupg \
|
||||
lsb-release \
|
||||
software-properties-common \
|
||||
wget \
|
||||
git \
|
||||
gitk \
|
||||
build-essential \
|
||||
cmake \
|
||||
python3-dev \
|
||||
python3-pip \
|
||||
python3-venv \
|
||||
python3-opencv \
|
||||
python3-matplotlib \
|
||||
python3-lxml \
|
||||
python3-yaml \
|
||||
python3-scipy \
|
||||
python3-future \
|
||||
libopencv-dev \
|
||||
libxml2-dev \
|
||||
libxslt1-dev \
|
||||
ccache \
|
||||
gawk \
|
||||
libtool-bin
|
||||
|
||||
# WSL-specific packages
|
||||
if $IS_WSL; then
|
||||
print_info "Installing WSL GUI support packages"
|
||||
sudo apt-get install -y \
|
||||
x11-apps \
|
||||
x11-xserver-utils \
|
||||
dbus-x11 \
|
||||
mesa-utils \
|
||||
libgl1-mesa-glx
|
||||
fi
|
||||
((STEP++))
|
||||
|
||||
# ============================================================================
|
||||
# STEP 3: 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
|
||||
sudo curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key \
|
||||
-o /usr/share/keyrings/ros-archive-keyring.gpg
|
||||
fi
|
||||
}
|
||||
|
||||
# Install ROS 2 repository
|
||||
install_ros2_repo() {
|
||||
print_info "Setting up ROS 2 repository..."
|
||||
|
||||
sudo apt-get install -y software-properties-common curl gnupg lsb-release
|
||||
|
||||
# Add ROS 2 GPG key
|
||||
sudo curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key \
|
||||
-o /usr/share/keyrings/ros-archive-keyring.gpg
|
||||
|
||||
# Add repository
|
||||
echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] \
|
||||
http://packages.ros.org/ros2/ubuntu $(lsb_release -cs) main" | \
|
||||
sudo tee /etc/apt/sources.list.d/ros2.list > /dev/null
|
||||
|
||||
sudo apt-get update
|
||||
}
|
||||
|
||||
# Setup WSL-specific configurations
|
||||
setup_wsl() {
|
||||
print_info "Configuring WSL-specific settings..."
|
||||
|
||||
# Create WSL environment setup
|
||||
WSL_ENV_FILE="$SCRIPT_DIR/wsl_env.sh"
|
||||
|
||||
cat > "$WSL_ENV_FILE" << 'WSLEOF'
|
||||
#!/bin/bash
|
||||
# WSL-specific environment variables
|
||||
|
||||
# Detect WSL version and set DISPLAY
|
||||
if grep -qi "wsl2" /proc/version 2>/dev/null || [ -f /run/WSL ]; then
|
||||
# WSL2 with WSLg (Windows 11)
|
||||
if [ -d "/mnt/wslg" ]; then
|
||||
export DISPLAY=:0
|
||||
else
|
||||
# WSL2 without WSLg (Windows 10) - use X server
|
||||
export DISPLAY=$(cat /etc/resolv.conf | grep nameserver | awk '{print $2}'):0
|
||||
fi
|
||||
sudo apt-get install -y ros-${ROS_DISTRO}-desktop python3-colcon-common-extensions
|
||||
else
|
||||
# WSL1
|
||||
export DISPLAY=localhost:0
|
||||
print_info "ROS 2 $ROS_DISTRO already installed"
|
||||
fi
|
||||
|
||||
# Performance settings for Gazebo in WSL
|
||||
export LIBGL_ALWAYS_INDIRECT=0
|
||||
|
||||
# If GPU acceleration isn't working, uncomment this:
|
||||
# export LIBGL_ALWAYS_SOFTWARE=1
|
||||
|
||||
# Mesa driver settings (helps with some rendering issues)
|
||||
export MESA_GL_VERSION_OVERRIDE=3.3
|
||||
export MESA_GLSL_VERSION_OVERRIDE=330
|
||||
|
||||
# Gazebo specific
|
||||
export OGRE_RTT_MODE=Copy
|
||||
WSLEOF
|
||||
|
||||
chmod +x "$WSL_ENV_FILE"
|
||||
|
||||
# Add to bashrc if not already present
|
||||
if ! grep -q "wsl_env.sh" ~/.bashrc 2>/dev/null; then
|
||||
echo "" >> ~/.bashrc
|
||||
echo "# WSL environment for UAV-UGV simulation" >> ~/.bashrc
|
||||
echo "if [ -f \"$WSL_ENV_FILE\" ]; then source \"$WSL_ENV_FILE\"; fi" >> ~/.bashrc
|
||||
fi
|
||||
|
||||
print_info "WSL environment configured. Source ~/.bashrc to apply."
|
||||
}
|
||||
|
||||
# Setup X11 for GUI applications
|
||||
setup_x11_wsl() {
|
||||
print_info "Installing X11 utilities for GUI support..."
|
||||
|
||||
sudo apt-get install -y \
|
||||
x11-apps \
|
||||
x11-xserver-utils \
|
||||
dbus-x11 \
|
||||
libgl1-mesa-glx \
|
||||
mesa-utils 2>/dev/null || true
|
||||
}
|
||||
|
||||
# Main setup
|
||||
print_header
|
||||
|
||||
SCRIPT_DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" && pwd)"
|
||||
cd "$SCRIPT_DIR"
|
||||
|
||||
# Detect environment
|
||||
detect_environment
|
||||
|
||||
# Determine total steps based on what's needed
|
||||
if check_ros2_installed; then
|
||||
TOTAL_STEPS=7
|
||||
else
|
||||
TOTAL_STEPS=9
|
||||
print_warning "ROS 2 $ROS_DISTRO not found. Will attempt to install."
|
||||
fi
|
||||
|
||||
if $IS_WSL; then
|
||||
TOTAL_STEPS=$((TOTAL_STEPS + 1))
|
||||
fi
|
||||
|
||||
STEP=1
|
||||
|
||||
# Step: Update system
|
||||
print_step $STEP "Updating system packages..."
|
||||
sudo apt-get update
|
||||
((STEP++))
|
||||
|
||||
# Step: WSL-specific setup
|
||||
if $IS_WSL; then
|
||||
print_step $STEP "Setting up WSL environment..."
|
||||
setup_wsl
|
||||
setup_x11_wsl
|
||||
((STEP++))
|
||||
fi
|
||||
|
||||
# Step: Install ROS 2 if not present
|
||||
if ! check_ros2_installed; then
|
||||
print_step $STEP "Installing ROS 2 repository..."
|
||||
install_ros2_repo
|
||||
((STEP++))
|
||||
|
||||
print_step $STEP "Installing ROS 2 $ROS_DISTRO..."
|
||||
sudo apt-get install -y ros-${ROS_DISTRO}-desktop || {
|
||||
print_warning "Failed to install ros-${ROS_DISTRO}-desktop, trying base..."
|
||||
sudo apt-get install -y ros-${ROS_DISTRO}-ros-base
|
||||
}
|
||||
((STEP++))
|
||||
fi
|
||||
|
||||
# Step: Install system dependencies
|
||||
print_step $STEP "Installing system dependencies..."
|
||||
# ============================================================================
|
||||
# STEP 4: Install ROS 2 Packages
|
||||
# ============================================================================
|
||||
print_step $STEP "Installing ROS 2 packages"
|
||||
sudo apt-get install -y \
|
||||
python3-pip \
|
||||
python3-venv \
|
||||
python3-opencv \
|
||||
libopencv-dev \
|
||||
python3-colcon-common-extensions \
|
||||
build-essential \
|
||||
cmake \
|
||||
git || true
|
||||
((STEP++))
|
||||
ros-${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"
|
||||
|
||||
# Step: Install ROS 2 packages
|
||||
print_step $STEP "Installing ROS 2 packages..."
|
||||
ROS_PACKAGES=(
|
||||
"ros-${ROS_DISTRO}-mavros"
|
||||
"ros-${ROS_DISTRO}-mavros-extras"
|
||||
"ros-${ROS_DISTRO}-cv-bridge"
|
||||
"ros-${ROS_DISTRO}-image-transport"
|
||||
"ros-${ROS_DISTRO}-tf2"
|
||||
"ros-${ROS_DISTRO}-tf2-ros"
|
||||
"ros-${ROS_DISTRO}-tf2-geometry-msgs"
|
||||
)
|
||||
|
||||
# Gazebo packages differ by distro
|
||||
if [ "$ROS_DISTRO" = "humble" ]; then
|
||||
ROS_PACKAGES+=("ros-${ROS_DISTRO}-gazebo-ros-pkgs")
|
||||
elif [ "$ROS_DISTRO" = "jazzy" ]; then
|
||||
# Jazzy uses Gazebo Harmonic (gz-sim)
|
||||
ROS_PACKAGES+=("ros-${ROS_DISTRO}-ros-gz")
|
||||
fi
|
||||
|
||||
# Install available packages (some may not exist for all distros)
|
||||
for pkg in "${ROS_PACKAGES[@]}"; do
|
||||
sudo apt-get install -y "$pkg" 2>/dev/null || {
|
||||
print_warning "Package $pkg not available, skipping..."
|
||||
}
|
||||
done
|
||||
((STEP++))
|
||||
|
||||
# Step: Install MAVROS GeographicLib datasets
|
||||
print_step $STEP "Installing MAVROS GeographicLib datasets..."
|
||||
# Install GeographicLib datasets for MAVROS
|
||||
GEOGRAPHICLIB_SCRIPT="/opt/ros/${ROS_DISTRO}/lib/mavros/install_geographiclib_datasets.sh"
|
||||
if [ -f "$GEOGRAPHICLIB_SCRIPT" ]; then
|
||||
if [ ! -f /usr/share/GeographicLib/geoids/egm96-5.pgm ]; then
|
||||
sudo "$GEOGRAPHICLIB_SCRIPT" || print_warning "GeographicLib datasets installation failed"
|
||||
else
|
||||
print_info "GeographicLib datasets already installed"
|
||||
print_info "Installing GeographicLib datasets (this may take a minute)"
|
||||
sudo "$GEOGRAPHICLIB_SCRIPT" || print_warning "GeographicLib installation failed"
|
||||
fi
|
||||
else
|
||||
print_warning "MAVROS not installed, skipping GeographicLib datasets"
|
||||
fi
|
||||
((STEP++))
|
||||
|
||||
# Step: Create Python virtual environment
|
||||
print_step $STEP "Creating Python virtual environment..."
|
||||
# ============================================================================
|
||||
# STEP 5: Install Gazebo
|
||||
# ============================================================================
|
||||
print_step $STEP "Installing Gazebo"
|
||||
sudo apt-get install -y gazebo libgazebo-dev || \
|
||||
sudo apt-get install -y gazebo11 libgazebo11-dev || \
|
||||
print_warning "Gazebo installation may require manual setup"
|
||||
((STEP++))
|
||||
|
||||
# ============================================================================
|
||||
# STEP 6: Install ArduPilot SITL
|
||||
# ============================================================================
|
||||
print_step $STEP "Installing ArduPilot SITL"
|
||||
|
||||
ARDUPILOT_HOME="$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
|
||||
else
|
||||
print_info "ArduPilot already exists, updating..."
|
||||
cd "$ARDUPILOT_HOME"
|
||||
git fetch origin
|
||||
git submodule update --init --recursive
|
||||
fi
|
||||
|
||||
# Install ArduPilot prerequisites
|
||||
print_info "Installing ArduPilot prerequisites..."
|
||||
cd "$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
|
||||
else
|
||||
print_info "ardupilot_gazebo already exists, updating..."
|
||||
cd "$ARDUPILOT_GAZEBO_HOME"
|
||||
git pull origin main || true
|
||||
fi
|
||||
|
||||
cd "$ARDUPILOT_GAZEBO_HOME"
|
||||
mkdir -p build && cd build
|
||||
cmake ..
|
||||
make -j$(nproc)
|
||||
sudo make install
|
||||
((STEP++))
|
||||
|
||||
# ============================================================================
|
||||
# STEP 8: Setup Python Virtual Environment
|
||||
# ============================================================================
|
||||
print_step $STEP "Setting up Python environment"
|
||||
|
||||
cd "$SCRIPT_DIR"
|
||||
|
||||
if [ ! -d "venv" ]; then
|
||||
python3 -m venv venv
|
||||
fi
|
||||
|
||||
source venv/bin/activate
|
||||
|
||||
# Upgrade pip and install dependencies
|
||||
pip install --upgrade pip
|
||||
pip install -r requirements.txt || {
|
||||
print_warning "Some Python packages failed to install. Check requirements.txt"
|
||||
}
|
||||
pip install -r requirements.txt || print_warning "Some Python packages failed"
|
||||
deactivate
|
||||
((STEP++))
|
||||
|
||||
# Step: Build ROS 2 package
|
||||
print_step $STEP "Building ROS 2 package..."
|
||||
if [ -f "/opt/ros/${ROS_DISTRO}/setup.bash" ]; then
|
||||
source /opt/ros/${ROS_DISTRO}/setup.bash
|
||||
|
||||
# Try to build if in a ROS workspace
|
||||
if [ -d "$SCRIPT_DIR/../src" ] || [ -f "$SCRIPT_DIR/package.xml" ]; then
|
||||
cd "$SCRIPT_DIR/.."
|
||||
colcon build --packages-select uav_ugv_simulation --symlink-install 2>/dev/null || {
|
||||
print_warning "Colcon build skipped. To build manually:"
|
||||
print_info " cd ~/ros2_ws && colcon build --packages-select uav_ugv_simulation"
|
||||
}
|
||||
cd "$SCRIPT_DIR"
|
||||
fi
|
||||
# ============================================================================
|
||||
# STEP 9: Configure Environment
|
||||
# ============================================================================
|
||||
print_step $STEP "Configuring environment"
|
||||
|
||||
# Create WSL environment file
|
||||
if $IS_WSL; then
|
||||
cat > "$SCRIPT_DIR/wsl_env.sh" << 'WSLEOF'
|
||||
#!/bin/bash
|
||||
# WSL Environment for UAV-UGV Simulation
|
||||
|
||||
if [ -d "/mnt/wslg" ]; then
|
||||
export DISPLAY=:0
|
||||
else
|
||||
print_warning "ROS 2 not found, skipping package build"
|
||||
export DISPLAY=$(cat /etc/resolv.conf 2>/dev/null | grep nameserver | awk '{print $2}'):0
|
||||
fi
|
||||
((STEP++))
|
||||
|
||||
# Step: Make scripts executable and create activation script
|
||||
print_step $STEP "Finalizing setup..."
|
||||
chmod +x scripts/*.sh 2>/dev/null || true
|
||||
export LIBGL_ALWAYS_INDIRECT=0
|
||||
export MESA_GL_VERSION_OVERRIDE=3.3
|
||||
export MESA_GLSL_VERSION_OVERRIDE=330
|
||||
export OGRE_RTT_MODE=Copy
|
||||
|
||||
# Source Gazebo setup
|
||||
[ -f /usr/share/gazebo/setup.bash ] && source /usr/share/gazebo/setup.bash
|
||||
[ -f /usr/share/gazebo-11/setup.bash ] && source /usr/share/gazebo-11/setup.bash
|
||||
WSLEOF
|
||||
chmod +x "$SCRIPT_DIR/wsl_env.sh"
|
||||
fi
|
||||
|
||||
# Create activation script
|
||||
cat > activate_venv.sh << EOF
|
||||
cat > "$SCRIPT_DIR/activate_venv.sh" << EOF
|
||||
#!/bin/bash
|
||||
SCRIPT_DIR="\$(cd "\$(dirname "\${BASH_SOURCE[0]}")" && pwd)"
|
||||
|
||||
# Activate Python virtual environment
|
||||
# ROS 2
|
||||
source /opt/ros/${ROS_DISTRO}/setup.bash
|
||||
|
||||
# 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"
|
||||
|
||||
# Source ROS 2
|
||||
if [ -f "/opt/ros/${ROS_DISTRO}/setup.bash" ]; then
|
||||
source /opt/ros/${ROS_DISTRO}/setup.bash
|
||||
fi
|
||||
|
||||
# Source workspace if built
|
||||
if [ -f "\$SCRIPT_DIR/../install/setup.bash" ]; then
|
||||
source "\$SCRIPT_DIR/../install/setup.bash"
|
||||
elif [ -f "\$SCRIPT_DIR/install/setup.bash" ]; then
|
||||
source "\$SCRIPT_DIR/install/setup.bash"
|
||||
fi
|
||||
|
||||
# Gazebo paths
|
||||
export GAZEBO_MODEL_PATH="\$SCRIPT_DIR/models:\$GAZEBO_MODEL_PATH"
|
||||
export GAZEBO_RESOURCE_PATH="\$SCRIPT_DIR/worlds:\$GAZEBO_RESOURCE_PATH"
|
||||
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 Gazebo (if installed)
|
||||
if [ -d "\$HOME/ardupilot_gazebo" ]; then
|
||||
export GAZEBO_MODEL_PATH="\$HOME/ardupilot_gazebo/models:\$GAZEBO_MODEL_PATH"
|
||||
export GAZEBO_RESOURCE_PATH="\$HOME/ardupilot_gazebo/worlds:\$GAZEBO_RESOURCE_PATH"
|
||||
fi
|
||||
# ArduPilot
|
||||
export PATH="\$PATH:\$HOME/ardupilot/Tools/autotest"
|
||||
export ARDUPILOT_HOME="\$HOME/ardupilot"
|
||||
|
||||
# WSL environment (if applicable)
|
||||
if [ -f "\$SCRIPT_DIR/wsl_env.sh" ]; then
|
||||
source "\$SCRIPT_DIR/wsl_env.sh"
|
||||
# WSL
|
||||
if grep -qEi "(microsoft|wsl)" /proc/version 2>/dev/null; then
|
||||
[ -f "\$SCRIPT_DIR/wsl_env.sh" ] && source "\$SCRIPT_DIR/wsl_env.sh"
|
||||
fi
|
||||
|
||||
echo -e "\033[0;32mEnvironment activated (ROS 2 ${ROS_DISTRO})\033[0m"
|
||||
echo "Run: bash scripts/run_simulation.sh"
|
||||
EOF
|
||||
chmod +x activate_venv.sh
|
||||
|
||||
# Summary
|
||||
echo ""
|
||||
echo -e "${GREEN}==========================================${NC}"
|
||||
echo -e "${GREEN} Setup Complete!${NC}"
|
||||
echo -e "${GREEN}==========================================${NC}"
|
||||
echo "Run simulation: bash scripts/run_simulation.sh"
|
||||
echo "With rendering: bash scripts/run_simulation.sh --software-render"
|
||||
EOF
|
||||
chmod +x "$SCRIPT_DIR/activate_venv.sh"
|
||||
|
||||
((STEP++))
|
||||
|
||||
# ============================================================================
|
||||
# STEP 10: 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 " - ROS 2 $ROS_DISTRO"
|
||||
echo " - Gazebo"
|
||||
echo " - ArduPilot SITL ($ARDUPILOT_HOME)"
|
||||
echo " - ardupilot_gazebo ($ARDUPILOT_GAZEBO_HOME)"
|
||||
echo " - MAVROS"
|
||||
echo " - Python dependencies"
|
||||
echo ""
|
||||
|
||||
if $IS_WSL; then
|
||||
echo -e "${YELLOW}WSL Setup Notes:${NC}"
|
||||
echo " - WSL environment file created: wsl_env.sh"
|
||||
echo " - For GUI apps, ensure X server is running (Windows 11 has WSLg built-in)"
|
||||
echo " - See docs/wsl_setup_guide.md for detailed instructions"
|
||||
echo " - GUI apps require WSLg (Windows 11) or VcXsrv (Windows 10)"
|
||||
echo " - Use --software-render flag if graphics are slow"
|
||||
echo ""
|
||||
fi
|
||||
|
||||
echo -e "${BLUE}Next steps:${NC}"
|
||||
echo " 1. source ~/.bashrc"
|
||||
echo " 2. source activate_venv.sh"
|
||||
echo " 3. bash scripts/run_simulation.sh"
|
||||
echo -e "${CYAN}To run the simulation:${NC}"
|
||||
echo ""
|
||||
echo -e "${BLUE}GPS-Denied Navigation:${NC}"
|
||||
echo " - All navigation uses LOCAL coordinates"
|
||||
echo " - GPS is ONLY used for geofencing"
|
||||
echo " cd $SCRIPT_DIR"
|
||||
echo " source activate_venv.sh"
|
||||
echo " bash scripts/run_simulation.sh"
|
||||
if $IS_WSL; then
|
||||
echo ""
|
||||
|
||||
if ! check_ros2_installed && [ ! -f "/opt/ros/${ROS_DISTRO}/setup.bash" ]; then
|
||||
echo -e "${YELLOW}IMPORTANT:${NC}"
|
||||
echo " ROS 2 installation may have failed. Please install manually:"
|
||||
echo " See: https://docs.ros.org/en/${ROS_DISTRO}/Installation.html"
|
||||
echo ""
|
||||
echo " # Or with software rendering for WSL:"
|
||||
echo " bash scripts/run_simulation.sh --software-render"
|
||||
fi
|
||||
echo ""
|
||||
echo -e "${GREEN}==========================================${NC}"
|
||||
|
||||
Reference in New Issue
Block a user