Scripts Update
This commit is contained in:
@@ -1,126 +1,120 @@
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# Architecture Overview
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# Architecture
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## System Architecture
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System architecture for GPS-denied UAV/UGV navigation.
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## Overview
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The system uses vision-based navigation with GPS reserved only for geofencing.
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```
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┌─────────────────────────────────────────────────────────────────┐
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│ SIMULATION LAYER │
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│ ┌──────────────────┐ ┌──────────────────┐ ┌───────────────┐ │
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│ │ Gazebo World │ │ ArduPilot SITL │ │ MAVROS │ │
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│ │ (Physics, Viz) │ │ (Autopilot) │ │ (ROS Bridge) │ │
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│ └────────┬─────────┘ └────────┬─────────┘ └───────┬───────┘ │
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└───────────┼─────────────────────┼─────────────────────┼─────────┘
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│ │ │
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▼ ▼ ▼
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┌─────────────────────────────────────────────────────────────────┐
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│ SENSOR LAYER │
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│ ┌────────────┐ ┌────────────┐ ┌────────────┐ ┌──────────┐ │
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│ │ Forward │ │ Downward │ │ IMU │ │ Range- │ │
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│ │ Camera │ │ Camera │ │ │ │ finder │ │
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│ └─────┬──────┘ └─────┬──────┘ └─────┬──────┘ └────┬─────┘ │
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└────────┼───────────────┼───────────────┼──────────────┼────────┘
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│ │ │ │
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▼ ▼ ▼ ▼
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┌─────────────────────────────────────────────────────────────────┐
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│ PERCEPTION LAYER │
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│ ┌─────────────────────┐ ┌────────────────┐ ┌──────────────┐ │
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│ │ Visual Odometry │ │ Optical Flow │ │ Landmark │ │
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│ │ (ORB/SIFT/SURF) │ │ (Lucas-Kanade) │ │ Detection │ │
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│ └──────────┬──────────┘ └───────┬────────┘ └──────┬───────┘ │
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└─────────────┼─────────────────────┼──────────────────┼──────────┘
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│ │ │
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▼ ▼ ▼
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┌─────────────────────────────────────────────────────────────────┐
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│ LOCALIZATION LAYER │
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│ ┌──────────────────────┐ │
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│ │ Position Estimator │ │
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│ │ (EKF Sensor Fusion)│ │
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│ └──────────┬───────────┘ │
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└───────────────────────────────┼─────────────────────────────────┘
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│
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▼
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┌─────────────────────────────────────────────────────────────────┐
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│ NAVIGATION LAYER │
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│ ┌─────────────────┐ ┌─────────────────┐ ┌─────────────────┐ │
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│ │ Local Planner │ │ Obstacle │ │ Waypoint │ │
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│ │ │ │ Avoidance │ │ Follower │ │
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│ └────────┬────────┘ └────────┬────────┘ └────────┬────────┘ │
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└───────────┼────────────────────┼────────────────────┼───────────┘
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│ │ │
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▼ ▼ ▼
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┌─────────────────────────────────────────────────────────────────┐
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│ CONTROL LAYER │
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│ ┌─────────────────┐ ┌─────────────────┐ ┌─────────────────┐ │
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│ │ UAV Controller │ │ UGV Controller │ │ Mission Planner │ │
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│ │ │ │ │ │ │ │
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│ └────────┬────────┘ └────────┬────────┘ └────────┬────────┘ │
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└───────────┼────────────────────┼────────────────────┼───────────┘
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│ │ │
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▼ ▼ ▼
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┌─────────────────────────────────────────────────────────────────┐
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│ SAFETY LAYER │
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│ ┌─────────────────────────┐ ┌─────────────────────────────┐ │
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│ │ Geofence Monitor │ │ Failsafe Handler │ │
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│ │ (GPS-based only) │ │ (Vision loss, battery) │ │
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│ └─────────────────────────┘ └─────────────────────────────┘ │
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└─────────────────────────────────────────────────────────────────┘
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Vision Sensors (Cameras)
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v
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Visual Odometry & Optical Flow
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v
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Position Estimator (EKF)
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v
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ArduPilot Flight Controller
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v
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Motor Control
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```
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## Module Descriptions
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## Components
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### Vision Module (`src/vision/`)
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- **camera_processor.py**: Image preprocessing, undistortion
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- **visual_odometry.py**: Feature-based pose estimation
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- **optical_flow.py**: Velocity from image flow
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- **object_detector.py**: Landmark/obstacle detection
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- **visual_servoing.py**: Vision-based control
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### Perception
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### Localization Module (`src/localization/`)
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- **position_estimator.py**: Sensor fusion for position
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- **ekf_fusion.py**: Extended Kalman Filter implementation
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- **landmark_tracker.py**: Track known visual features
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- **Forward Camera**: Visual odometry, feature tracking
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- **Downward Camera**: Optical flow, ground plane detection
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- **IMU**: Angular velocity, acceleration
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### Navigation Module (`src/navigation/`)
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- **local_planner.py**: Path planning in local frame
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- **obstacle_avoidance.py**: Reactive obstacle avoidance
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- **waypoint_follower.py**: Sequential waypoint navigation
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### Localization
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### Control Module (`src/control/`)
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- **uav_controller.py**: Quadcopter flight control
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- **ugv_controller.py**: Ground vehicle control
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- **mission_planner.py**: Multi-vehicle coordination
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- **Visual Odometry**: Estimates motion from camera images
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- **Optical Flow**: Velocity estimation from downward camera
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- **EKF Fusion**: Combines all sensor inputs into position estimate
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### Safety Module (`src/safety/`)
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- **geofence_monitor.py**: GPS-based boundary checking
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- **failsafe_handler.py**: Emergency procedures
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### Navigation
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- **Waypoint Navigation**: Relative coordinates (meters from origin)
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- **Path Planning**: Collision-free paths using local map
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- **Position Hold**: Maintain position using vision
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### Control
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- **ArduPilot**: Flight controller firmware
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- **MAVROS**: ROS interface to ArduPilot
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- **Velocity/Position Control**: Low-level motor commands
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### Safety
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- **Geofencing**: GPS-based boundary checking (safety only)
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- **Altitude Limits**: Maximum flight ceiling
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- **Failsafe**: RTL on signal loss or boundary breach
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## Coordinate Frames
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| Frame | Description |
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|-------|-------------|
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| body | Attached to vehicle, X forward, Y right, Z down |
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| odom | Origin at takeoff, accumulates drift |
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| map | Fixed world frame (may be corrected) |
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All navigation commands use local coordinates relative to takeoff point.
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## Data Flow
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```
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Camera Image → Feature Detection → Feature Matching →
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Essential Matrix → Relative Pose → EKF Update →
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Local Position → Navigation Controller →
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Velocity Commands → MAVROS → ArduPilot
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Camera Images
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v
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Feature Detection (ORB/SIFT)
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v
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Feature Matching (frame to frame)
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v
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Motion Estimation (Essential Matrix)
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v
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EKF Update (fuse with IMU)
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v
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Position Estimate (x, y, z, roll, pitch, yaw)
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v
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ArduPilot (external position input)
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v
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PID Control -> Motor PWM
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```
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## ArduPilot Integration
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ArduPilot receives external position via MAVLink:
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1. Visual odometry → `VISION_POSITION_ESTIMATE`
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2. EKF uses external source (EK3_SRC1_POSXY=6)
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3. GPS disabled for navigation (GPS_TYPE=0 or EK3_SRC1_POSXY!=1)
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## Geofencing
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GPS is only used for safety boundaries:
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1. GPS position → lat/lon
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2. Check against polygon/circle boundary
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3. If outside: trigger RTL or LAND
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Navigation continues using vision regardless of GPS status.
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## ROS 2 Topics
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### Sensor Topics
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- `/uav/camera/forward/image_raw`
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- `/uav/camera/downward/image_raw`
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- `/uav/imu/data`
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- `/uav/rangefinder/range`
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### Perception Topics
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- `/uav/visual_odometry/pose`
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- `/uav/optical_flow/velocity`
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### Control Topics
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- `/uav/mavros/setpoint_position/local`
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- `/uav/mavros/setpoint_velocity/cmd_vel`
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- `/ugv/cmd_vel`
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### Safety Topics
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- `/geofence/status`
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- `/failsafe/active`
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| Topic | Type | Description |
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|-------|------|-------------|
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| /uav/camera/forward/image_raw | sensor_msgs/Image | Forward camera |
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| /uav/camera/downward/image_raw | sensor_msgs/Image | Downward camera |
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| /mavros/local_position/pose | geometry_msgs/PoseStamped | Current position |
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| /mavros/setpoint_position/local | geometry_msgs/PoseStamped | Target position |
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| /mavros/imu/data | sensor_msgs/Imu | IMU data |
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@@ -1,198 +1,128 @@
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# GPS-Denied Navigation
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## Overview
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How the system navigates without GPS.
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This project implements **GPS-denied navigation** for UAV and UGV vehicles. Instead of relying on GPS for position estimation and waypoint navigation, the system uses vision-based sensors and local coordinate frames.
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## Principle
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## Why GPS-Denied?
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All navigation uses relative positioning from visual sensors. GPS is only used for geofencing (safety boundaries).
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GPS-denied navigation is critical for scenarios where GPS is:
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| Function | GPS Used? |
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|----------|-----------|
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| Position estimation | No - visual odometry |
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| Waypoint navigation | No - local coordinates |
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| Velocity control | No - optical flow |
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| Geofencing | Yes - safety only |
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1. **Unavailable**: Indoor environments, underground, tunnels
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2. **Unreliable**: Urban canyons with multipath errors
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3. **Jammed/Spoofed**: Electronic warfare, contested environments
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4. **Degraded**: Under bridges, heavy foliage, near tall structures
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## Position Estimation
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## Navigation Architecture
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### Visual Odometry
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1. Detect features in camera image (ORB, SIFT)
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2. Match features between consecutive frames
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3. Estimate camera motion from feature displacement
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4. Accumulate motion into position estimate
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### Optical Flow
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1. Capture ground images from downward camera
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2. Measure pixel displacement between frames
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3. Convert to velocity using altitude
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4. Integrate for position
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### Sensor Fusion
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Extended Kalman Filter combines:
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- Visual odometry (position)
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- Optical flow (velocity)
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- IMU (acceleration, rotation)
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- Barometer (altitude)
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Output: Full 6-DOF pose estimate
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## ArduPilot Configuration
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Key parameters for GPS-denied operation:
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```
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┌─────────────────────────────────────────────────┐
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│ VISION SENSORS │
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│ • Forward Camera (640x480, 30Hz) │
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│ • Downward Camera (320x240, 30Hz) │
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│ • Optional: Depth Camera, LiDAR │
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└───────────────────┬─────────────────────────────┘
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│
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▼
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┌─────────────────────────────────────────────────┐
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│ VISUAL ODOMETRY MODULE │
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│ • Feature detection (ORB/SIFT/SURF) │
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│ • Feature matching between frames │
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│ • Essential matrix estimation │
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│ • Relative pose computation │
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└───────────────────┬─────────────────────────────┘
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│
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▼
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┌─────────────────────────────────────────────────┐
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│ OPTICAL FLOW MODULE │
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│ • Lucas-Kanade optical flow │
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│ • Velocity estimation from flow vectors │
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│ • Height compensation using rangefinder │
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└───────────────────┬─────────────────────────────┘
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│
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▼
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┌─────────────────────────────────────────────────┐
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│ POSITION ESTIMATOR (EKF) │
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│ Fuses: │
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│ • Visual odometry (weight: 0.6) │
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│ • Optical flow (weight: 0.3) │
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│ • IMU integration (weight: 0.1) │
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│ Output: Local position/velocity estimate │
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└───────────────────┬─────────────────────────────┘
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│
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▼
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┌─────────────────────────────────────────────────┐
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│ NAVIGATION CONTROLLER │
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│ • Waypoints in LOCAL frame (x, y, z meters) │
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│ • Path planning using relative coordinates │
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│ • Obstacle avoidance using depth/camera │
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└─────────────────────────────────────────────────┘
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# EKF Source Configuration
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EK3_SRC1_POSXY = 6 # External Nav for position
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EK3_SRC1_VELXY = 6 # External Nav for velocity
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EK3_SRC1_POSZ = 1 # Barometer for altitude
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# Disable GPS for navigation
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GPS_TYPE = 0 # No GPS (or keep for geofence)
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# Enable external navigation
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VISO_TYPE = 1 # Enable visual odometry input
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# Arming checks
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ARMING_CHECK = 0 # Disable pre-arm checks (for testing)
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```
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## Coordinate Frames
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See `config/ardupilot_gps_denied.parm` for complete parameters.
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### LOCAL_NED Frame
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- **Origin**: Vehicle starting position
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- **X**: North (forward)
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- **Y**: East (right)
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- **Z**: Down
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## Sending Position to ArduPilot
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### Body Frame
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- **X**: Forward
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- **Y**: Right
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- **Z**: Down
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Visual odometry sends position via MAVLink:
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## GPS Usage: Geofencing Only
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```python
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# VISION_POSITION_ESTIMATE message
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msg = mavutil.mavlink.MAVLink_vision_position_estimate_message(
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usec=timestamp_us,
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x=position_x, # meters, NED frame
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y=position_y,
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z=position_z,
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roll=roll, # radians
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pitch=pitch,
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yaw=yaw
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)
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```
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While navigation is GPS-denied, GPS is still used for **geofencing** (safety boundaries):
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## Drift Mitigation
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Visual odometry accumulates drift over time. Strategies:
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1. **Loop Closure**: Recognize previously visited locations
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2. **Landmark Matching**: Use known visual markers
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3. **Multi-Sensor Fusion**: Weight sensors by confidence
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4. **Periodic Reset**: Return to known position
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## Geofencing
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GPS is only used for safety boundaries:
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```yaml
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geofence:
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enabled: true
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use_gps: true # GPS ONLY for geofence check
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polygon_points:
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- {lat: 47.397742, lon: 8.545594}
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- {lat: 47.398242, lon: 8.545594}
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- {lat: 47.398242, lon: 8.546094}
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- {lat: 47.397742, lon: 8.546094}
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action_on_breach: "RTL" # Return to LOCAL origin
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use_gps: true
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fence_type: polygon
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action: RTL
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max_altitude: 50
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```
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## Example: Relative Waypoint Mission
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If drone crosses boundary, triggers return-to-launch.
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## Coordinate System
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All waypoints use local NED coordinates:
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- X: North (meters from origin)
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- Y: East (meters from origin)
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- Z: Down (negative for altitude)
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Example mission:
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```python
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# All waypoints are in LOCAL frame (meters from origin)
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waypoints = [
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{"x": 0, "y": 0, "z": 5}, # Takeoff to 5m
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{"x": 10, "y": 0, "z": 5}, # 10m forward
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{"x": 10, "y": 10, "z": 5}, # 10m right
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{"x": 0, "y": 0, "z": 5}, # Return to origin
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{"x": 0, "y": 0, "z": -5}, # Takeoff to 5m
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{"x": 10, "y": 0, "z": -5}, # 10m north
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{"x": 10, "y": 10, "z": -5}, # 10m east
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{"x": 0, "y": 0, "z": -5}, # Return
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{"x": 0, "y": 0, "z": 0}, # Land
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]
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```
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## Sensor Fusion Details
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### Extended Kalman Filter State
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```
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State vector x = [px, py, pz, vx, vy, vz, ax, ay, az]
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Where:
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- px, py, pz = position (meters)
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- vx, vy, vz = velocity (m/s)
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- ax, ay, az = acceleration (m/s²)
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```
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### Measurement Sources
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| Source | Measures | Update Rate | Noise |
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|-----------------|----------------|-------------|-------|
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| Visual Odometry | Position | 30 Hz | 0.05m |
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| Optical Flow | Velocity | 60 Hz | 0.1m/s|
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| IMU | Acceleration | 200 Hz | 0.2m/s²|
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| Rangefinder | Altitude | 30 Hz | 0.02m |
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## Drift Mitigation
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GPS-denied navigation accumulates drift over time. Mitigation strategies:
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1. **Visual Landmarks**: Detect and track known markers (ArUco)
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2. **Loop Closure**: Recognize previously visited locations
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3. **Ground Truth Reset**: Periodic reset in simulation
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4. **Multi-Sensor Fusion**: Reduce individual sensor drift
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## Configuration Parameters
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### Visual Odometry
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```yaml
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visual_odometry:
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method: "ORB" # or "SIFT", "SURF"
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min_features: 100
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max_features: 500
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feature_quality: 0.01
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```
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### Optical Flow
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||||
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```yaml
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optical_flow:
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||||
method: "Lucas-Kanade"
|
||||
window_size: 15
|
||||
max_level: 3
|
||||
min_altitude: 0.3 # meters
|
||||
```
|
||||
|
||||
### Position Estimator
|
||||
|
||||
```yaml
|
||||
position_estimator:
|
||||
fusion_method: "EKF"
|
||||
weights:
|
||||
visual_odometry: 0.6
|
||||
optical_flow: 0.3
|
||||
imu: 0.1
|
||||
```
|
||||
|
||||
## Testing GPS-Denied Navigation
|
||||
|
||||
### Indoor Warehouse World
|
||||
```bash
|
||||
bash scripts/run_simulation.sh worlds/indoor_warehouse.world
|
||||
```
|
||||
|
||||
### Urban Canyon World
|
||||
```bash
|
||||
bash scripts/run_simulation.sh worlds/urban_canyon.world
|
||||
```
|
||||
|
||||
## Troubleshooting
|
||||
|
||||
### High Position Drift
|
||||
- Check camera exposure/focus
|
||||
- Ensure sufficient visual features in environment
|
||||
- Increase feature count in visual odometry
|
||||
- Add visual markers to environment
|
||||
|
||||
### Vision Loss
|
||||
- The failsafe handler triggers after 5 seconds of no visual odometry
|
||||
- Action: HOLD (hover in place) by default
|
||||
- Configure with `action_on_vision_loss` parameter
|
||||
|
||||
### Geofence Breach
|
||||
- Vehicle returns to LOCAL origin (not GPS home)
|
||||
- RTL uses the same local coordinate system
|
||||
## Limitations
|
||||
|
||||
- Drift accumulates over distance/time
|
||||
- Requires visual features (fails in featureless environments)
|
||||
- Requires sufficient lighting
|
||||
- Performance degrades with fast motion or blur
|
||||
|
||||
@@ -1,144 +1,116 @@
|
||||
# Setup Guide
|
||||
|
||||
## System Requirements
|
||||
Complete installation for Ubuntu 22.04/24.04 and WSL2.
|
||||
|
||||
- **OS**: Ubuntu 22.04 LTS (Jammy Jellyfish)
|
||||
- **Python**: 3.10.x (native to Ubuntu 22.04)
|
||||
- **ROS 2**: Humble Hawksbill
|
||||
- **Gazebo**: Classic 11
|
||||
- **RAM**: 8GB minimum, 16GB recommended
|
||||
- **GPU**: NVIDIA GPU recommended for better performance
|
||||
## One-Command Installation
|
||||
|
||||
## Installation Steps
|
||||
```bash
|
||||
git clone https://git.sirblob.co/SirBlob/simulation.git
|
||||
cd simulation
|
||||
bash setup.sh
|
||||
```
|
||||
|
||||
### 1. Install ROS 2 Humble
|
||||
The script installs:
|
||||
- ROS 2 (Humble or Jazzy)
|
||||
- Gazebo Harmonic
|
||||
- ArduPilot SITL
|
||||
- ardupilot_gazebo plugin
|
||||
- Python dependencies
|
||||
|
||||
Installation takes 20-40 minutes.
|
||||
|
||||
## Manual Installation
|
||||
|
||||
If you prefer to install components separately:
|
||||
|
||||
### 1. ROS 2
|
||||
|
||||
```bash
|
||||
# Add ROS 2 repository
|
||||
sudo apt update && sudo apt install curl gnupg lsb-release
|
||||
sudo curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -o /usr/share/keyrings/ros-archive-keyring.gpg
|
||||
echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] http://packages.ros.org/ros2/ubuntu $(lsb_release -cs) main" | sudo tee /etc/apt/sources.list.d/ros2.list > /dev/null
|
||||
sudo curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key \
|
||||
-o /usr/share/keyrings/ros-archive-keyring.gpg
|
||||
|
||||
echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] \
|
||||
http://packages.ros.org/ros2/ubuntu $(lsb_release -cs) main" | \
|
||||
sudo tee /etc/apt/sources.list.d/ros2.list
|
||||
|
||||
# Install ROS 2 Humble
|
||||
sudo apt update
|
||||
sudo apt install ros-humble-desktop
|
||||
|
||||
# Source ROS 2
|
||||
echo "source /opt/ros/humble/setup.bash" >> ~/.bashrc
|
||||
source ~/.bashrc
|
||||
sudo apt install ros-humble-ros-base ros-humble-ros-gz
|
||||
```
|
||||
|
||||
### 2. Install Gazebo Classic
|
||||
### 2. Gazebo Harmonic
|
||||
|
||||
```bash
|
||||
sudo apt install gazebo11 libgazebo11-dev ros-humble-gazebo-ros-pkgs
|
||||
sudo wget https://packages.osrfoundation.org/gazebo.gpg \
|
||||
-O /usr/share/keyrings/pkgs-osrf-archive-keyring.gpg
|
||||
|
||||
echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/pkgs-osrf-archive-keyring.gpg] \
|
||||
http://packages.osrfoundation.org/gazebo/ubuntu-stable $(lsb_release -cs) main" | \
|
||||
sudo tee /etc/apt/sources.list.d/gazebo-stable.list
|
||||
|
||||
sudo apt update
|
||||
sudo apt install gz-harmonic libgz-cmake3-dev libgz-sim8-dev
|
||||
```
|
||||
|
||||
### 3. Install ArduPilot SITL
|
||||
### 3. ArduPilot SITL
|
||||
|
||||
```bash
|
||||
# Clone ArduPilot
|
||||
cd ~
|
||||
git clone https://github.com/ArduPilot/ardupilot.git
|
||||
cd ardupilot
|
||||
git submodule update --init --recursive
|
||||
|
||||
# Install dependencies
|
||||
git clone --recurse-submodules https://github.com/ArduPilot/ardupilot.git ~/ardupilot
|
||||
cd ~/ardupilot
|
||||
Tools/environment_install/install-prereqs-ubuntu.sh -y
|
||||
. ~/.profile
|
||||
|
||||
# Build SITL
|
||||
./waf configure --board sitl
|
||||
./waf copter
|
||||
```
|
||||
|
||||
### 4. Install ardupilot_gazebo Plugin
|
||||
### 4. ardupilot_gazebo Plugin
|
||||
|
||||
```bash
|
||||
cd ~
|
||||
git clone https://github.com/ArduPilot/ardupilot_gazebo.git
|
||||
cd ardupilot_gazebo
|
||||
git clone https://github.com/ArduPilot/ardupilot_gazebo.git ~/ardupilot_gazebo
|
||||
cd ~/ardupilot_gazebo
|
||||
mkdir build && cd build
|
||||
cmake ..
|
||||
make -j4
|
||||
sudo make install
|
||||
|
||||
# Add to environment
|
||||
echo 'export GAZEBO_MODEL_PATH=$HOME/ardupilot_gazebo/models:$GAZEBO_MODEL_PATH' >> ~/.bashrc
|
||||
echo 'export GAZEBO_RESOURCE_PATH=$HOME/ardupilot_gazebo/worlds:$GAZEBO_RESOURCE_PATH' >> ~/.bashrc
|
||||
source ~/.bashrc
|
||||
cmake .. -DCMAKE_BUILD_TYPE=Release
|
||||
make -j$(nproc)
|
||||
```
|
||||
|
||||
### 5. Setup This Project
|
||||
### 5. Python Environment
|
||||
|
||||
```bash
|
||||
# Clone to ROS 2 workspace
|
||||
cd ~/ros2_ws/src
|
||||
git clone <your-repo-url> uav_ugv_simulation
|
||||
cd uav_ugv_simulation
|
||||
|
||||
# Run automated setup
|
||||
bash setup.sh
|
||||
|
||||
# Reload environment
|
||||
source ~/.bashrc
|
||||
cd ~/simulation
|
||||
python3 -m venv venv
|
||||
source venv/bin/activate
|
||||
pip install -r requirements.txt
|
||||
```
|
||||
|
||||
## Verification
|
||||
## Verify Installation
|
||||
|
||||
### Test ROS 2
|
||||
```bash
|
||||
ros2 topic list
|
||||
```
|
||||
# Check Gazebo
|
||||
gz sim --version
|
||||
|
||||
### Test Gazebo
|
||||
```bash
|
||||
gazebo --verbose
|
||||
```
|
||||
# Check ArduPilot
|
||||
sim_vehicle.py --help
|
||||
|
||||
### Test ArduPilot SITL
|
||||
```bash
|
||||
cd ~/ardupilot/ArduCopter
|
||||
sim_vehicle.py -v ArduCopter -f gazebo-iris --console --map
|
||||
```
|
||||
|
||||
### Test Python Environment
|
||||
```bash
|
||||
cd ~/ros2_ws/src/uav_ugv_simulation
|
||||
source activate_venv.sh
|
||||
python -c "import cv2; import numpy; import rclpy; print('OK')"
|
||||
# Check plugin
|
||||
ls ~/ardupilot_gazebo/build/libArduPilotPlugin.so
|
||||
```
|
||||
|
||||
## Running the Simulation
|
||||
|
||||
```bash
|
||||
cd ~/ros2_ws/src/uav_ugv_simulation
|
||||
cd ~/simulation
|
||||
source activate_venv.sh
|
||||
bash scripts/run_simulation.sh
|
||||
```
|
||||
|
||||
## NVIDIA GPU Setup (Optional)
|
||||
|
||||
For better Gazebo performance with NVIDIA GPU:
|
||||
## Uninstall
|
||||
|
||||
```bash
|
||||
bash scripts/setup_gazebo_nvidia.sh
|
||||
bash scripts/uninstall.sh # ArduPilot and plugin only
|
||||
bash scripts/uninstall.sh --all # Everything including project
|
||||
```
|
||||
|
||||
## Troubleshooting
|
||||
|
||||
### "Package not found" error
|
||||
To remove ROS 2 and Gazebo:
|
||||
```bash
|
||||
cd ~/ros2_ws
|
||||
colcon build --packages-select uav_ugv_simulation
|
||||
source install/setup.bash
|
||||
sudo apt remove ros-humble-* gz-harmonic
|
||||
```
|
||||
|
||||
### Gazebo crashes
|
||||
- Check GPU drivers: `nvidia-smi`
|
||||
- Try software rendering: `export LIBGL_ALWAYS_SOFTWARE=1`
|
||||
|
||||
### MAVROS connection failed
|
||||
- Ensure ArduPilot SITL is running first
|
||||
- Check port availability: `lsof -i :14550`
|
||||
|
||||
|
||||
@@ -1,178 +1,236 @@
|
||||
# Troubleshooting Guide
|
||||
# Troubleshooting
|
||||
|
||||
## Common Issues
|
||||
Common issues and solutions.
|
||||
|
||||
### 1. Gazebo Won't Start
|
||||
## Installation Issues
|
||||
|
||||
**Symptoms**: Gazebo window doesn't open, or crashes immediately
|
||||
### ROS 2 packages not found
|
||||
|
||||
**Solutions**:
|
||||
```
|
||||
E: Unable to locate package ros-humble-ros-base
|
||||
```
|
||||
|
||||
Check Ubuntu version matches ROS distro:
|
||||
- Ubuntu 22.04 → ROS 2 Humble
|
||||
- Ubuntu 24.04 → ROS 2 Jazzy
|
||||
|
||||
Re-run setup:
|
||||
```bash
|
||||
# Kill any existing Gazebo processes
|
||||
killall gzserver gzclient
|
||||
bash setup.sh
|
||||
```
|
||||
|
||||
# Check for port conflicts
|
||||
lsof -i :11345
|
||||
### Gazebo cmake error (gz-cmake3 not found)
|
||||
|
||||
# Try software rendering
|
||||
```
|
||||
Could not find a package configuration file provided by "gz-cmake3"
|
||||
```
|
||||
|
||||
Install Gazebo development packages:
|
||||
```bash
|
||||
sudo apt install libgz-cmake3-dev libgz-sim8-dev libgz-plugin2-dev
|
||||
```
|
||||
|
||||
### ArduPilot build fails
|
||||
|
||||
```bash
|
||||
cd ~/ardupilot
|
||||
./waf clean
|
||||
./waf configure --board sitl
|
||||
./waf copter
|
||||
```
|
||||
|
||||
### ardupilot_gazebo build fails
|
||||
|
||||
Ensure Gazebo dev packages are installed:
|
||||
```bash
|
||||
sudo apt install gz-harmonic libgz-cmake3-dev libgz-sim8-dev \
|
||||
libgz-plugin2-dev libgz-common5-dev libgz-physics7-dev \
|
||||
libgz-sensors8-dev rapidjson-dev
|
||||
```
|
||||
|
||||
Rebuild:
|
||||
```bash
|
||||
cd ~/ardupilot_gazebo
|
||||
rm -rf build
|
||||
mkdir build && cd build
|
||||
cmake .. -DCMAKE_BUILD_TYPE=Release
|
||||
make -j$(nproc)
|
||||
```
|
||||
|
||||
## Runtime Issues
|
||||
|
||||
### Gazebo won't start
|
||||
|
||||
Check Gazebo installation:
|
||||
```bash
|
||||
gz sim --version
|
||||
```
|
||||
|
||||
Check plugin path:
|
||||
```bash
|
||||
echo $GZ_SIM_SYSTEM_PLUGIN_PATH
|
||||
ls ~/ardupilot_gazebo/build/libArduPilotPlugin.so
|
||||
```
|
||||
|
||||
### Black screen in Gazebo (WSL)
|
||||
|
||||
Use software rendering:
|
||||
```bash
|
||||
export LIBGL_ALWAYS_SOFTWARE=1
|
||||
gazebo
|
||||
bash scripts/run_simulation.sh
|
||||
```
|
||||
|
||||
### 2. ArduPilot SITL Connection Failed
|
||||
|
||||
**Symptoms**: MAVROS can't connect to ArduPilot
|
||||
|
||||
**Solutions**:
|
||||
Or use the flag:
|
||||
```bash
|
||||
# Check if SITL is running
|
||||
ps aux | grep ArduCopter
|
||||
|
||||
# Check port availability
|
||||
lsof -i :14550
|
||||
|
||||
# Start SITL manually first
|
||||
cd ~/ardupilot/ArduCopter
|
||||
sim_vehicle.py -v ArduCopter -f gazebo-iris --console
|
||||
|
||||
# Then start MAVROS
|
||||
ros2 run mavros mavros_node --ros-args -p fcu_url:=udp://:14550@127.0.0.1:14555
|
||||
bash scripts/run_simulation.sh --software-render
|
||||
```
|
||||
|
||||
### 3. Visual Odometry Not Working
|
||||
### Gazebo crashes with OpenGL error
|
||||
|
||||
**Symptoms**: No pose output, high drift
|
||||
|
||||
**Solutions**:
|
||||
- Ensure camera is publishing:
|
||||
```bash
|
||||
ros2 topic hz /uav/camera/forward/image_raw
|
||||
```
|
||||
- Check for sufficient visual features in scene
|
||||
- Adjust feature detection parameters in `config/uav_params.yaml`
|
||||
- Add visual markers to the world
|
||||
|
||||
### 4. Vehicle Won't Arm
|
||||
|
||||
**Symptoms**: Arm command fails
|
||||
|
||||
**Solutions**:
|
||||
```bash
|
||||
# Check MAVROS state
|
||||
ros2 topic echo /uav/mavros/state
|
||||
|
||||
# Check for prearm errors
|
||||
ros2 topic echo /uav/mavros/statustext/recv
|
||||
|
||||
# Force arm (use with caution)
|
||||
ros2 service call /uav/mavros/cmd/arming mavros_msgs/srv/CommandBool "{value: true}"
|
||||
export MESA_GL_VERSION_OVERRIDE=3.3
|
||||
export MESA_GLSL_VERSION_OVERRIDE=330
|
||||
export LIBGL_ALWAYS_SOFTWARE=1
|
||||
```
|
||||
|
||||
### 5. Geofence Immediately Triggers
|
||||
### sim_vehicle.py not found
|
||||
|
||||
**Symptoms**: Vehicle triggers geofence breach on startup
|
||||
|
||||
**Solutions**:
|
||||
- Check GPS coordinates in `config/geofence_params.yaml`
|
||||
- Ensure Gazebo world has correct `spherical_coordinates`
|
||||
- Verify MAVROS is receiving GPS:
|
||||
```bash
|
||||
ros2 topic echo /uav/mavros/global_position/global
|
||||
```
|
||||
|
||||
### 6. High CPU/Memory Usage
|
||||
|
||||
**Symptoms**: System becomes slow during simulation
|
||||
|
||||
**Solutions**:
|
||||
- Reduce camera resolution in model SDF files
|
||||
- Lower Gazebo real-time factor
|
||||
- Disable unnecessary visualizations
|
||||
- Use headless mode:
|
||||
```bash
|
||||
gazebo --headless
|
||||
```
|
||||
|
||||
### 7. ROS 2 Package Not Found
|
||||
|
||||
**Symptoms**: `Package 'uav_ugv_simulation' not found`
|
||||
|
||||
**Solutions**:
|
||||
```bash
|
||||
# Rebuild the package
|
||||
cd ~/ros2_ws
|
||||
colcon build --packages-select uav_ugv_simulation
|
||||
|
||||
# Source the workspace
|
||||
source install/setup.bash
|
||||
|
||||
# Verify installation
|
||||
ros2 pkg list | grep uav_ugv
|
||||
export PATH=$PATH:$HOME/ardupilot/Tools/autotest
|
||||
```
|
||||
|
||||
### 8. Python Import Errors
|
||||
|
||||
**Symptoms**: `ModuleNotFoundError: No module named 'xxx'`
|
||||
|
||||
**Solutions**:
|
||||
Or source the activation script:
|
||||
```bash
|
||||
# Activate virtual environment
|
||||
source activate_venv.sh
|
||||
|
||||
# Reinstall requirements
|
||||
pip install -r requirements.txt
|
||||
```
|
||||
|
||||
### 9. Camera Images Are Black
|
||||
|
||||
**Symptoms**: Camera topic publishes but images are empty
|
||||
|
||||
**Solutions**:
|
||||
- Check lighting in Gazebo world
|
||||
- Verify camera plugin is loaded:
|
||||
```bash
|
||||
ros2 topic info /uav/camera/forward/image_raw
|
||||
```
|
||||
- Check camera is within clip range
|
||||
|
||||
### 10. Vehicle Drifts Excessively
|
||||
|
||||
**Symptoms**: Position estimate diverges from actual position
|
||||
|
||||
**Solutions**:
|
||||
- Increase visual features in environment
|
||||
- Add ArUco markers for landmark tracking
|
||||
- Tune EKF covariances in `config/uav_params.yaml`
|
||||
- Check optical flow height compensation
|
||||
|
||||
## Debug Commands
|
||||
### MAVProxy not found
|
||||
|
||||
```bash
|
||||
# View all ROS nodes
|
||||
ros2 node list
|
||||
|
||||
# Check topic connections
|
||||
ros2 topic info /topic_name
|
||||
|
||||
# View parameter values
|
||||
ros2 param dump /node_name
|
||||
|
||||
# Echo topic data
|
||||
ros2 topic echo /topic_name --once
|
||||
|
||||
# View TF tree
|
||||
ros2 run tf2_tools view_frames
|
||||
pip3 install --user mavproxy pymavlink
|
||||
export PATH=$PATH:$HOME/.local/bin
|
||||
```
|
||||
|
||||
## Log Files
|
||||
### Drone doesn't respond to commands
|
||||
|
||||
- Gazebo: `~/.gazebo/log/`
|
||||
- ROS 2: `~/.ros/log/`
|
||||
- ArduPilot: Check console window
|
||||
1. Check ArduPilot is running:
|
||||
```bash
|
||||
ps aux | grep arducopter
|
||||
```
|
||||
|
||||
## Getting Help
|
||||
2. Check connection:
|
||||
```
|
||||
# In MAVProxy console
|
||||
status
|
||||
```
|
||||
|
||||
1. Check ROS 2 logs: `ros2 launch --debug ...`
|
||||
2. Enable verbose Gazebo: `gazebo --verbose`
|
||||
3. Check ArduPilot parameters: Use MAVProxy console
|
||||
3. Ensure GUIDED mode:
|
||||
```
|
||||
mode guided
|
||||
```
|
||||
|
||||
4. Arm the drone:
|
||||
```
|
||||
arm throttle
|
||||
```
|
||||
|
||||
### Drone immediately disarms
|
||||
|
||||
Usually means pre-arm checks failing:
|
||||
```
|
||||
# In MAVProxy console
|
||||
arm check
|
||||
```
|
||||
|
||||
Common fixes:
|
||||
```
|
||||
# Disable GPS check for GPS-denied operation
|
||||
param set ARMING_CHECK 0
|
||||
```
|
||||
|
||||
### Drone drifts or flips on takeoff
|
||||
|
||||
Check EKF is using vision/external nav:
|
||||
```
|
||||
# In MAVProxy console
|
||||
param show EK3_SRC*
|
||||
```
|
||||
|
||||
## WSL-Specific Issues
|
||||
|
||||
### DISPLAY not set
|
||||
|
||||
For WSLg (Windows 11):
|
||||
```bash
|
||||
export DISPLAY=:0
|
||||
```
|
||||
|
||||
For VcXsrv (Windows 10):
|
||||
```bash
|
||||
export DISPLAY=$(cat /etc/resolv.conf | grep nameserver | awk '{print $2}'):0
|
||||
```
|
||||
|
||||
### VcXsrv connection refused
|
||||
|
||||
1. Ensure XLaunch is running
|
||||
2. Disable access control in XLaunch
|
||||
3. Check Windows Firewall allows VcXsrv
|
||||
|
||||
### Slow graphics performance
|
||||
|
||||
```bash
|
||||
# Use software rendering
|
||||
bash scripts/run_simulation.sh --software-render
|
||||
|
||||
# Or set environment
|
||||
export LIBGL_ALWAYS_SOFTWARE=1
|
||||
```
|
||||
|
||||
## Logs and Debugging
|
||||
|
||||
### Gazebo verbose output
|
||||
|
||||
```bash
|
||||
gz sim -v4 ~/ardupilot_gazebo/worlds/iris_runway.sdf
|
||||
```
|
||||
|
||||
### ArduPilot logs
|
||||
|
||||
Logs are saved in:
|
||||
```
|
||||
~/ardupilot/logs/
|
||||
```
|
||||
|
||||
### Check ROS topics
|
||||
|
||||
```bash
|
||||
source activate_venv.sh
|
||||
ros2 topic list
|
||||
ros2 topic echo /mavros/state
|
||||
```
|
||||
|
||||
## Reset Everything
|
||||
|
||||
```bash
|
||||
# Stop all processes
|
||||
bash scripts/kill_simulation.sh
|
||||
|
||||
# Clean rebuild of ArduPilot
|
||||
cd ~/ardupilot
|
||||
./waf clean
|
||||
./waf copter
|
||||
|
||||
# Clean rebuild of plugin
|
||||
cd ~/ardupilot_gazebo
|
||||
rm -rf build
|
||||
mkdir build && cd build
|
||||
cmake ..
|
||||
make -j$(nproc)
|
||||
```
|
||||
|
||||
## Full Reinstall
|
||||
|
||||
```bash
|
||||
bash scripts/uninstall.sh
|
||||
bash setup.sh
|
||||
```
|
||||
|
||||
211
docs/usage.md
211
docs/usage.md
@@ -1,151 +1,136 @@
|
||||
# Usage Guide
|
||||
|
||||
## Quick Start
|
||||
How to run and control the simulation.
|
||||
|
||||
## Starting the Simulation
|
||||
|
||||
```bash
|
||||
# 1. Navigate to project
|
||||
cd ~/ros2_ws/src/uav_ugv_simulation
|
||||
|
||||
# 2. Activate environment
|
||||
cd ~/simulation
|
||||
source activate_venv.sh
|
||||
|
||||
# 3. Run simulation
|
||||
bash scripts/run_simulation.sh
|
||||
```
|
||||
|
||||
## Launch Options
|
||||
This launches:
|
||||
1. Gazebo with the drone model
|
||||
2. ArduPilot SITL (flight controller)
|
||||
3. MAVProxy console (for commands)
|
||||
|
||||
## Simulation Options
|
||||
|
||||
### Full Simulation (UAV + UGV)
|
||||
```bash
|
||||
ros2 launch uav_ugv_simulation full_simulation.launch.py
|
||||
# Default (iris_runway world)
|
||||
bash scripts/run_simulation.sh
|
||||
|
||||
# Specific world
|
||||
bash scripts/run_simulation.sh --world iris_runway
|
||||
|
||||
# Rover instead of copter
|
||||
bash scripts/run_simulation.sh --vehicle Rover
|
||||
|
||||
# Software rendering (for WSL or no GPU)
|
||||
bash scripts/run_simulation.sh --software-render
|
||||
|
||||
# Show available options
|
||||
bash scripts/run_simulation.sh --help
|
||||
```
|
||||
|
||||
### UAV Only
|
||||
```bash
|
||||
ros2 launch uav_ugv_simulation uav_only.launch.py
|
||||
## Controlling the UAV
|
||||
|
||||
### MAVProxy Console
|
||||
|
||||
The simulation opens a MAVProxy console. Commands:
|
||||
|
||||
```
|
||||
mode guided # Switch to GUIDED mode (required for commands)
|
||||
arm throttle # Arm motors
|
||||
takeoff 5 # Takeoff to 5 meters altitude
|
||||
|
||||
# Fly to position (North, East, Down in meters)
|
||||
guided 10 0 -5 # 10m north, 0m east, 5m altitude
|
||||
guided 10 10 -5 # 10m north, 10m east, 5m altitude
|
||||
guided 0 0 -5 # Return to origin at 5m altitude
|
||||
|
||||
rtl # Return to launch
|
||||
land # Land at current position
|
||||
disarm # Disarm motors (after landing)
|
||||
```
|
||||
|
||||
### UGV Only
|
||||
### ROS 2 Interface
|
||||
|
||||
If MAVROS is running, control via ROS 2:
|
||||
|
||||
```bash
|
||||
ros2 launch uav_ugv_simulation ugv_only.launch.py
|
||||
```
|
||||
# Arm
|
||||
ros2 service call /mavros/cmd/arming mavros_msgs/srv/CommandBool "{value: true}"
|
||||
|
||||
### Different Worlds
|
||||
```bash
|
||||
# Indoor warehouse (GPS-denied)
|
||||
bash scripts/run_simulation.sh worlds/indoor_warehouse.world
|
||||
|
||||
# Urban canyon (GPS-degraded)
|
||||
bash scripts/run_simulation.sh worlds/urban_canyon.world
|
||||
```
|
||||
|
||||
## Interacting with Vehicles
|
||||
|
||||
### UAV Commands
|
||||
```bash
|
||||
# Arm the vehicle
|
||||
ros2 topic pub /uav/controller/command std_msgs/String "data: 'arm'"
|
||||
# Set GUIDED mode
|
||||
ros2 service call /mavros/set_mode mavros_msgs/srv/SetMode "{custom_mode: 'GUIDED'}"
|
||||
|
||||
# Takeoff
|
||||
ros2 topic pub /uav/controller/command std_msgs/String "data: 'takeoff'"
|
||||
ros2 service call /mavros/cmd/takeoff mavros_msgs/srv/CommandTOL "{altitude: 5}"
|
||||
|
||||
# Go to waypoint (local coordinates)
|
||||
ros2 topic pub /uav/setpoint_position geometry_msgs/PoseStamped \
|
||||
"{header: {frame_id: 'odom'}, pose: {position: {x: 10.0, y: 5.0, z: 5.0}}}"
|
||||
# Fly to position (local frame, meters)
|
||||
ros2 topic pub /mavros/setpoint_position/local geometry_msgs/PoseStamped \
|
||||
"{header: {frame_id: 'map'}, pose: {position: {x: 10, y: 5, z: 5}}}"
|
||||
|
||||
# Land
|
||||
ros2 topic pub /uav/controller/command std_msgs/String "data: 'land'"
|
||||
ros2 service call /mavros/cmd/land mavros_msgs/srv/CommandTOL "{}"
|
||||
```
|
||||
|
||||
### UGV Commands
|
||||
### Monitoring
|
||||
|
||||
```bash
|
||||
# Go to goal (local coordinates)
|
||||
ros2 topic pub /ugv/goal_pose geometry_msgs/PoseStamped \
|
||||
"{header: {frame_id: 'odom'}, pose: {position: {x: 5.0, y: 3.0, z: 0.0}}}"
|
||||
|
||||
# Stop
|
||||
ros2 topic pub /ugv/controller/command std_msgs/String "data: 'stop'"
|
||||
```
|
||||
|
||||
## Mission Planner
|
||||
|
||||
### Load Demo Mission
|
||||
```bash
|
||||
ros2 topic pub /mission/command std_msgs/String "data: 'load'"
|
||||
```
|
||||
|
||||
### Start Mission
|
||||
```bash
|
||||
ros2 topic pub /mission/command std_msgs/String "data: 'start'"
|
||||
```
|
||||
|
||||
### Pause/Resume
|
||||
```bash
|
||||
ros2 topic pub /mission/command std_msgs/String "data: 'pause'"
|
||||
ros2 topic pub /mission/command std_msgs/String "data: 'resume'"
|
||||
```
|
||||
|
||||
## Monitoring
|
||||
|
||||
### View Topics
|
||||
```bash
|
||||
# List all topics
|
||||
# List topics
|
||||
ros2 topic list
|
||||
|
||||
# UAV status
|
||||
ros2 topic echo /uav/controller/status
|
||||
# View position
|
||||
ros2 topic echo /mavros/local_position/pose
|
||||
|
||||
# Visual odometry pose
|
||||
ros2 topic echo /uav/visual_odometry/pose
|
||||
# View velocity
|
||||
ros2 topic echo /mavros/local_position/velocity_local
|
||||
|
||||
# Geofence status
|
||||
ros2 topic echo /geofence/status
|
||||
# View IMU
|
||||
ros2 topic echo /mavros/imu/data
|
||||
```
|
||||
|
||||
### View Camera Feeds
|
||||
```bash
|
||||
# Using rqt_image_view
|
||||
ros2 run rqt_image_view rqt_image_view
|
||||
## Flight Modes
|
||||
|
||||
# Select topics:
|
||||
# /uav/camera/forward/image_raw
|
||||
# /uav/camera/downward/image_raw
|
||||
```
|
||||
|
||||
### Visualization
|
||||
```bash
|
||||
# RViz
|
||||
rviz2
|
||||
|
||||
# Add displays for:
|
||||
# - TF
|
||||
# - Camera
|
||||
# - Path
|
||||
# - Marker (geofence)
|
||||
```
|
||||
|
||||
## Configuration
|
||||
|
||||
### Modify Parameters
|
||||
|
||||
Edit YAML files in `config/` directory:
|
||||
|
||||
- `uav_params.yaml` - UAV settings
|
||||
- `geofence_params.yaml` - Safety boundaries
|
||||
- `mavros_params.yaml` - MAVROS connection
|
||||
|
||||
### Runtime Parameter Changes
|
||||
```bash
|
||||
ros2 param set /uav/visual_odom_node max_features 500
|
||||
```
|
||||
| Mode | Description |
|
||||
|------|-------------|
|
||||
| STABILIZE | Manual control with attitude stabilization |
|
||||
| ALT_HOLD | Maintain altitude, manual position |
|
||||
| LOITER | Hold position and altitude |
|
||||
| GUIDED | Accept position commands |
|
||||
| AUTO | Follow pre-planned mission |
|
||||
| RTL | Return to launch point |
|
||||
| LAND | Controlled descent and landing |
|
||||
|
||||
## Stopping the Simulation
|
||||
|
||||
```bash
|
||||
# Graceful shutdown
|
||||
Ctrl+C
|
||||
Press `Ctrl+C` in the terminal running the simulation.
|
||||
|
||||
# Force kill all processes
|
||||
Or run:
|
||||
```bash
|
||||
bash scripts/kill_simulation.sh
|
||||
```
|
||||
|
||||
## Camera Topics
|
||||
|
||||
The UAV has two cameras:
|
||||
|
||||
```bash
|
||||
# Forward camera (visual odometry)
|
||||
ros2 topic echo /uav/camera/forward/image_raw
|
||||
|
||||
# Downward camera (optical flow)
|
||||
ros2 topic echo /uav/camera/downward/image_raw
|
||||
```
|
||||
|
||||
## GPS-Denied Navigation
|
||||
|
||||
All position commands use local coordinates (meters from takeoff point):
|
||||
- X: North
|
||||
- Y: East
|
||||
- Z: Up (or Down for NED frame)
|
||||
|
||||
GPS is only used for geofencing boundaries, not for navigation.
|
||||
|
||||
@@ -1,660 +1,129 @@
|
||||
# WSL Setup Guide for UAV-UGV Simulation
|
||||
# WSL Setup Guide
|
||||
|
||||
This guide walks you through setting up the GPS-denied UAV-UGV simulation on **Windows Subsystem for Linux (WSL)**.
|
||||
|
||||
---
|
||||
Setup guide for Windows Subsystem for Linux (WSL2).
|
||||
|
||||
## Prerequisites
|
||||
|
||||
- Windows 10 version 2004+ (Build 19041+) or Windows 11
|
||||
- Administrator access to Windows
|
||||
- At least 16GB RAM (8GB minimum)
|
||||
- 50GB free disk space
|
||||
- NVIDIA GPU (optional, for hardware acceleration)
|
||||
- Windows 10 (version 21H2+) or Windows 11
|
||||
- WSL2 with Ubuntu 22.04
|
||||
|
||||
---
|
||||
### Install WSL2
|
||||
|
||||
## Part 1: Install WSL2 with Ubuntu 22.04
|
||||
|
||||
### Step 1.1: Enable WSL
|
||||
|
||||
Open **PowerShell as Administrator** and run:
|
||||
Open PowerShell as Administrator:
|
||||
|
||||
```powershell
|
||||
# Enable WSL and Virtual Machine Platform
|
||||
wsl --install
|
||||
|
||||
# Or if already installed, update to WSL2
|
||||
wsl --set-default-version 2
|
||||
```
|
||||
|
||||
**Restart your computer** after this step.
|
||||
|
||||
### Step 1.2: Install Ubuntu 22.04
|
||||
|
||||
```powershell
|
||||
# List available distributions
|
||||
wsl --list --online
|
||||
|
||||
# Install Ubuntu 22.04
|
||||
wsl --install -d Ubuntu-22.04
|
||||
```
|
||||
|
||||
When prompted, create a username and password for your Ubuntu installation.
|
||||
Restart your computer, then open Ubuntu from the Start menu.
|
||||
|
||||
### Step 1.3: Verify WSL2
|
||||
## GUI Support
|
||||
|
||||
```powershell
|
||||
wsl --list --verbose
|
||||
```
|
||||
### Windows 11 (WSLg)
|
||||
|
||||
You should see Ubuntu-22.04 with VERSION 2:
|
||||
GUI works automatically. No additional setup needed.
|
||||
|
||||
```
|
||||
NAME STATE VERSION
|
||||
* Ubuntu-22.04 Running 2
|
||||
```
|
||||
|
||||
If it shows VERSION 1, upgrade it:
|
||||
|
||||
```powershell
|
||||
wsl --set-version Ubuntu-22.04 2
|
||||
```
|
||||
|
||||
### Step 1.4: Configure WSL Memory
|
||||
|
||||
Create or edit `%USERPROFILE%\.wslconfig` (Windows path: `C:\Users\YourName\.wslconfig`):
|
||||
|
||||
```ini
|
||||
[wsl2]
|
||||
# Allocate memory (adjust based on your system)
|
||||
memory=8GB
|
||||
processors=4
|
||||
|
||||
# Swap file
|
||||
swap=4GB
|
||||
|
||||
# Enable systemd (required for ROS 2)
|
||||
[boot]
|
||||
systemd=true
|
||||
```
|
||||
|
||||
**Restart WSL** after creating this file:
|
||||
|
||||
```powershell
|
||||
wsl --shutdown
|
||||
```
|
||||
|
||||
---
|
||||
|
||||
## Part 2: Setup GUI Support for Gazebo
|
||||
|
||||
WSL2 supports GUI applications through **WSLg** (Windows 11) or **X11 forwarding** (Windows 10).
|
||||
|
||||
### Option A: WSLg (Windows 11 - Recommended)
|
||||
|
||||
**WSLg is built-in to Windows 11.** No additional setup needed! GUI apps work out of the box.
|
||||
|
||||
Verify WSLg is working:
|
||||
|
||||
```bash
|
||||
# Inside WSL Ubuntu
|
||||
sudo apt update
|
||||
sudo apt install -y x11-apps
|
||||
xcalc # Should open a calculator window
|
||||
```
|
||||
|
||||
### Option B: X11 Server (Windows 10)
|
||||
|
||||
#### Install VcXsrv
|
||||
### Windows 10 (VcXsrv)
|
||||
|
||||
1. Download and install [VcXsrv](https://sourceforge.net/projects/vcxsrv/)
|
||||
2. Launch **XLaunch** with these settings:
|
||||
- Display: Multiple windows
|
||||
2. Run XLaunch with these settings:
|
||||
- Multiple windows
|
||||
- Start no client
|
||||
- **Check**: Disable access control
|
||||
- Save configuration for future use
|
||||
|
||||
#### Configure WSL to use X Server
|
||||
|
||||
Add to `~/.bashrc` in WSL:
|
||||
|
||||
```bash
|
||||
# X11 forwarding for WSL1/WSL2 (Windows 10)
|
||||
export DISPLAY=$(cat /etc/resolv.conf | grep nameserver | awk '{print $2}'):0
|
||||
export LIBGL_ALWAYS_INDIRECT=1
|
||||
```
|
||||
|
||||
Apply changes:
|
||||
|
||||
```bash
|
||||
source ~/.bashrc
|
||||
```
|
||||
|
||||
Test X11:
|
||||
|
||||
```bash
|
||||
sudo apt install -y x11-apps
|
||||
xcalc # Should open a calculator
|
||||
```
|
||||
|
||||
---
|
||||
|
||||
## Part 3: Install ROS 2 Humble
|
||||
|
||||
### Step 3.1: Setup ROS 2 Repository
|
||||
|
||||
```bash
|
||||
# Update system
|
||||
sudo apt update && sudo apt upgrade -y
|
||||
|
||||
# Install prerequisites
|
||||
sudo apt install -y software-properties-common
|
||||
sudo add-apt-repository universe
|
||||
|
||||
# Add ROS 2 GPG key
|
||||
sudo apt install -y curl gnupg lsb-release
|
||||
sudo curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key \
|
||||
-o /usr/share/keyrings/ros-archive-keyring.gpg
|
||||
|
||||
# Add repository
|
||||
echo "deb [arch=$(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
|
||||
```
|
||||
|
||||
### Step 3.2: Install ROS 2 Humble
|
||||
|
||||
```bash
|
||||
# Update package list
|
||||
sudo apt update
|
||||
|
||||
# Install ROS 2 Desktop (includes RViz, demos, tutorials)
|
||||
sudo apt install -y ros-humble-desktop
|
||||
|
||||
# Install development tools
|
||||
sudo apt install -y \
|
||||
ros-dev-tools \
|
||||
python3-colcon-common-extensions \
|
||||
python3-rosdep
|
||||
```
|
||||
|
||||
### Step 3.3: Initialize rosdep
|
||||
|
||||
```bash
|
||||
sudo rosdep init
|
||||
rosdep update
|
||||
```
|
||||
|
||||
### Step 3.4: Setup Environment
|
||||
|
||||
Add to `~/.bashrc`:
|
||||
|
||||
```bash
|
||||
# ROS 2 Humble
|
||||
source /opt/ros/humble/setup.bash
|
||||
|
||||
# Optional: Auto-source workspace
|
||||
if [ -f ~/ros2_ws/install/setup.bash ]; then
|
||||
source ~/ros2_ws/install/setup.bash
|
||||
fi
|
||||
```
|
||||
|
||||
Apply changes:
|
||||
|
||||
```bash
|
||||
source ~/.bashrc
|
||||
```
|
||||
|
||||
### Step 3.5: Verify ROS 2
|
||||
|
||||
```bash
|
||||
ros2 --version
|
||||
# Should output: ros2 cli version: 0.x.x
|
||||
|
||||
# Test with a demo (optional)
|
||||
ros2 run demo_nodes_cpp talker
|
||||
# Press Ctrl+C to stop
|
||||
```
|
||||
|
||||
---
|
||||
|
||||
## Part 4: Install Gazebo Classic 11
|
||||
|
||||
```bash
|
||||
# Install Gazebo Classic
|
||||
sudo apt install -y gazebo11 libgazebo11-dev
|
||||
|
||||
# Install ROS 2 Gazebo packages
|
||||
sudo apt install -y \
|
||||
ros-humble-gazebo-ros-pkgs \
|
||||
ros-humble-gazebo-plugins
|
||||
```
|
||||
|
||||
### Test Gazebo
|
||||
|
||||
```bash
|
||||
gazebo --verbose
|
||||
```
|
||||
|
||||
A Gazebo window should open. **Note**: First launch may be slow.
|
||||
|
||||
**Common Issues:**
|
||||
|
||||
- **Black screen**: Wait 30-60 seconds for Gazebo to fully initialize
|
||||
- **Slow performance**: Use software rendering (see below)
|
||||
- **Crashes**: Check GPU drivers and memory allocation in `.wslconfig`
|
||||
|
||||
### Performance Tweaks
|
||||
|
||||
If Gazebo is slow, force software rendering:
|
||||
|
||||
```bash
|
||||
export LIBGL_ALWAYS_SOFTWARE=1
|
||||
gazebo
|
||||
```
|
||||
|
||||
Add to `~/.bashrc` to make permanent:
|
||||
|
||||
```bash
|
||||
echo "export LIBGL_ALWAYS_SOFTWARE=1" >> ~/.bashrc
|
||||
```
|
||||
|
||||
---
|
||||
|
||||
## Part 5: Install ArduPilot SITL
|
||||
|
||||
### Step 5.1: Install Dependencies
|
||||
|
||||
```bash
|
||||
sudo apt install -y \
|
||||
git \
|
||||
gitk \
|
||||
git-gui \
|
||||
python3-dev \
|
||||
python3-opencv \
|
||||
python3-wxgtk4.0 \
|
||||
python3-pip \
|
||||
python3-matplotlib \
|
||||
python3-lxml \
|
||||
python3-pygame \
|
||||
libxml2-dev \
|
||||
libxslt1-dev \
|
||||
python3-scipy
|
||||
```
|
||||
|
||||
### Step 5.2: Clone ArduPilot
|
||||
|
||||
```bash
|
||||
cd ~
|
||||
git clone https://github.com/ArduPilot/ardupilot.git
|
||||
cd ardupilot
|
||||
git submodule update --init --recursive
|
||||
```
|
||||
|
||||
### Step 5.3: Install ArduPilot Prerequisites
|
||||
|
||||
```bash
|
||||
cd ~/ardupilot
|
||||
Tools/environment_install/install-prereqs-ubuntu.sh -y
|
||||
```
|
||||
|
||||
**Reload your shell:**
|
||||
|
||||
```bash
|
||||
. ~/.profile
|
||||
```
|
||||
|
||||
### Step 5.4: Build ArduCopter SITL
|
||||
|
||||
```bash
|
||||
cd ~/ardupilot
|
||||
./waf configure --board sitl
|
||||
./waf copter
|
||||
```
|
||||
|
||||
### Step 5.5: Test ArduPilot SITL
|
||||
|
||||
```bash
|
||||
cd ~/ardupilot/ArduCopter
|
||||
sim_vehicle.py --console --map
|
||||
```
|
||||
|
||||
You should see MAVProxy console and a map window. Press Ctrl+C to exit.
|
||||
|
||||
---
|
||||
|
||||
## Part 6: Install ardupilot_gazebo Plugin
|
||||
|
||||
```bash
|
||||
# Clone the plugin
|
||||
cd ~
|
||||
git clone https://github.com/ArduPilot/ardupilot_gazebo.git
|
||||
cd ardupilot_gazebo
|
||||
|
||||
# Build
|
||||
mkdir build && cd build
|
||||
cmake ..
|
||||
make -j4
|
||||
sudo make install
|
||||
```
|
||||
|
||||
### Configure Gazebo Paths
|
||||
|
||||
Add to `~/.bashrc`:
|
||||
|
||||
```bash
|
||||
# ArduPilot Gazebo
|
||||
export GAZEBO_MODEL_PATH=$HOME/ardupilot_gazebo/models:$GAZEBO_MODEL_PATH
|
||||
export GAZEBO_RESOURCE_PATH=$HOME/ardupilot_gazebo/worlds:$GAZEBO_RESOURCE_PATH
|
||||
```
|
||||
|
||||
Apply changes:
|
||||
|
||||
```bash
|
||||
source ~/.bashrc
|
||||
```
|
||||
|
||||
---
|
||||
|
||||
## Part 7: Install MAVROS
|
||||
|
||||
```bash
|
||||
sudo apt install -y \
|
||||
ros-humble-mavros \
|
||||
ros-humble-mavros-extras
|
||||
```
|
||||
|
||||
### Install GeographicLib Datasets
|
||||
|
||||
```bash
|
||||
sudo /opt/ros/humble/lib/mavros/install_geographiclib_datasets.sh
|
||||
```
|
||||
|
||||
---
|
||||
|
||||
## Part 8: Setup UAV-UGV Simulation Project
|
||||
|
||||
### Step 8.1: Create ROS 2 Workspace
|
||||
|
||||
```bash
|
||||
mkdir -p ~/ros2_ws/src
|
||||
cd ~/ros2_ws/src
|
||||
```
|
||||
|
||||
### Step 8.2: Clone Project
|
||||
|
||||
```bash
|
||||
# Replace with your repository URL
|
||||
git clone https://git.sirblob.co/SirBlob/simulation.git uav_ugv_simulation
|
||||
cd uav_ugv_simulation
|
||||
```
|
||||
|
||||
### Step 8.3: Install Python Dependencies
|
||||
|
||||
```bash
|
||||
# Install system Python packages
|
||||
sudo apt install -y \
|
||||
python3-pip \
|
||||
python3-venv \
|
||||
python3-opencv \
|
||||
libopencv-dev
|
||||
|
||||
# Install additional ROS packages
|
||||
sudo apt install -y \
|
||||
ros-humble-cv-bridge \
|
||||
ros-humble-image-transport \
|
||||
ros-humble-tf2 \
|
||||
ros-humble-tf2-ros \
|
||||
ros-humble-tf2-geometry-msgs
|
||||
|
||||
# Create virtual environment
|
||||
python3 -m venv venv
|
||||
source venv/bin/activate
|
||||
|
||||
# Install Python packages
|
||||
pip install --upgrade pip
|
||||
pip install -r requirements.txt
|
||||
```
|
||||
|
||||
### Step 8.4: Build ROS Package
|
||||
|
||||
```bash
|
||||
cd ~/ros2_ws
|
||||
colcon build --packages-select uav_ugv_simulation --symlink-install
|
||||
source install/setup.bash
|
||||
```
|
||||
|
||||
### Step 8.5: Make Scripts Executable
|
||||
|
||||
```bash
|
||||
cd ~/ros2_ws/src/uav_ugv_simulation
|
||||
chmod +x scripts/*.sh
|
||||
chmod +x setup.sh
|
||||
chmod +x activate_venv.sh
|
||||
```
|
||||
|
||||
---
|
||||
|
||||
## Part 9: Test the Installation
|
||||
|
||||
### Test 1: Gazebo
|
||||
|
||||
```bash
|
||||
gazebo --verbose
|
||||
```
|
||||
|
||||
### Test 2: ROS 2
|
||||
|
||||
```bash
|
||||
ros2 topic list
|
||||
```
|
||||
|
||||
### Test 3: ArduPilot SITL
|
||||
|
||||
```bash
|
||||
cd ~/ardupilot/ArduCopter
|
||||
sim_vehicle.py -v ArduCopter -f gazebo-iris --console --map
|
||||
```
|
||||
|
||||
### Test 4: Complete Simulation (Final Test)
|
||||
|
||||
**Terminal 1 - Gazebo:**
|
||||
```bash
|
||||
cd ~/ros2_ws/src/uav_ugv_simulation
|
||||
source activate_venv.sh
|
||||
gazebo --verbose worlds/empty_custom.world
|
||||
```
|
||||
|
||||
**Terminal 2 - ArduPilot:**
|
||||
```bash
|
||||
cd ~/ardupilot/ArduCopter
|
||||
sim_vehicle.py -v ArduCopter -f gazebo-iris --console --map -I0
|
||||
```
|
||||
|
||||
**Terminal 3 - MAVROS & Nodes:**
|
||||
```bash
|
||||
cd ~/ros2_ws/src/uav_ugv_simulation
|
||||
source activate_venv.sh
|
||||
ros2 launch uav_ugv_simulation uav_only.launch.py
|
||||
```
|
||||
|
||||
---
|
||||
|
||||
## WSL-Specific Issues & Solutions
|
||||
|
||||
### Issue 1: "Cannot open display"
|
||||
|
||||
**Solution:**
|
||||
|
||||
Windows 10:
|
||||
- Disable access control (checked)
|
||||
3. In WSL, set DISPLAY:
|
||||
```bash
|
||||
export DISPLAY=$(cat /etc/resolv.conf | grep nameserver | awk '{print $2}'):0
|
||||
```
|
||||
|
||||
Windows 11 (WSLg):
|
||||
## Installation
|
||||
|
||||
```bash
|
||||
export DISPLAY=:0
|
||||
git clone https://git.sirblob.co/SirBlob/simulation.git
|
||||
cd simulation
|
||||
bash setup.sh
|
||||
```
|
||||
|
||||
### Issue 2: Gazebo Black Screen
|
||||
The setup script automatically:
|
||||
- Detects WSL environment
|
||||
- Installs GUI support packages
|
||||
- Creates WSL environment file
|
||||
- Configures DISPLAY variable
|
||||
|
||||
**Solutions:**
|
||||
|
||||
1. Wait 30-60 seconds for initialization
|
||||
2. Use software rendering:
|
||||
```bash
|
||||
export LIBGL_ALWAYS_SOFTWARE=1
|
||||
```
|
||||
3. Increase WSL memory in `.wslconfig`
|
||||
|
||||
### Issue 3: GPU Acceleration Not Working
|
||||
|
||||
**For NVIDIA GPUs in WSL2:**
|
||||
|
||||
1. Install NVIDIA drivers on **Windows** (not in WSL)
|
||||
2. Install CUDA in WSL:
|
||||
```bash
|
||||
sudo apt install -y nvidia-cuda-toolkit
|
||||
```
|
||||
3. Verify:
|
||||
```bash
|
||||
nvidia-smi
|
||||
```
|
||||
|
||||
### Issue 4: "Permission denied" on Serial Ports
|
||||
## Running the Simulation
|
||||
|
||||
```bash
|
||||
sudo usermod -aG dialout $USER
|
||||
# Logout and login again
|
||||
```
|
||||
|
||||
### Issue 5: Slow Performance
|
||||
|
||||
1. Increase memory in `.wslconfig`
|
||||
2. Close unnecessary Windows applications
|
||||
3. Use software rendering for Gazebo
|
||||
4. Reduce Gazebo real-time factor:
|
||||
```bash
|
||||
gazebo --verbose -u # Start paused
|
||||
```
|
||||
|
||||
### Issue 6: Network Issues (MAVROS connection)
|
||||
|
||||
Ensure localhost is working:
|
||||
|
||||
```bash
|
||||
# Test connection
|
||||
nc -zv 127.0.0.1 14550
|
||||
|
||||
# If fails, check WSL networking
|
||||
cat /etc/resolv.conf
|
||||
```
|
||||
|
||||
---
|
||||
|
||||
## Quick Start After Installation
|
||||
|
||||
```bash
|
||||
# 1. Navigate to project
|
||||
cd ~/ros2_ws/src/uav_ugv_simulation
|
||||
|
||||
# 2. Activate environment
|
||||
cd ~/simulation
|
||||
source activate_venv.sh
|
||||
|
||||
# 3. Run simulation
|
||||
bash scripts/run_simulation.sh
|
||||
```
|
||||
|
||||
---
|
||||
If graphics are slow or Gazebo crashes:
|
||||
```bash
|
||||
bash scripts/run_simulation.sh --software-render
|
||||
```
|
||||
|
||||
## Performance Optimization for WSL
|
||||
## Troubleshooting
|
||||
|
||||
### 1. Increase WSL Resources
|
||||
### Black screen or no display
|
||||
|
||||
Edit `C:\Users\YourName\.wslconfig`:
|
||||
Check DISPLAY variable:
|
||||
```bash
|
||||
echo $DISPLAY
|
||||
```
|
||||
|
||||
For WSLg (Windows 11), should be `:0`
|
||||
For VcXsrv (Windows 10), should be `<IP>:0`
|
||||
|
||||
Test with:
|
||||
```bash
|
||||
xcalc
|
||||
```
|
||||
|
||||
### Gazebo crashes immediately
|
||||
|
||||
Use software rendering:
|
||||
```bash
|
||||
export LIBGL_ALWAYS_SOFTWARE=1
|
||||
bash scripts/run_simulation.sh
|
||||
```
|
||||
|
||||
### OpenGL errors
|
||||
|
||||
```bash
|
||||
export MESA_GL_VERSION_OVERRIDE=3.3
|
||||
export MESA_GLSL_VERSION_OVERRIDE=330
|
||||
```
|
||||
|
||||
### VcXsrv connection refused
|
||||
|
||||
1. Check Windows Firewall allows VcXsrv
|
||||
2. Ensure XLaunch is running
|
||||
3. Disable access control in XLaunch settings
|
||||
|
||||
### Slow performance
|
||||
|
||||
- Close unnecessary Windows applications
|
||||
- Allocate more RAM to WSL in `.wslconfig`:
|
||||
```ini
|
||||
[wsl2]
|
||||
memory=12GB
|
||||
processors=6
|
||||
swap=8GB
|
||||
localhostForwarding=true
|
||||
memory=8GB
|
||||
processors=4
|
||||
```
|
||||
|
||||
### 2. Enable Systemd
|
||||
- Use software rendering flag
|
||||
|
||||
In `.wslconfig`:
|
||||
## Environment Variables
|
||||
|
||||
```ini
|
||||
[boot]
|
||||
systemd=true
|
||||
The `activate_venv.sh` script sets these automatically:
|
||||
|
||||
```bash
|
||||
export DISPLAY=:0 # or IP:0 for VcXsrv
|
||||
export LIBGL_ALWAYS_INDIRECT=0
|
||||
export MESA_GL_VERSION_OVERRIDE=3.3
|
||||
```
|
||||
|
||||
### 3. Disable Windows Defender for WSL
|
||||
## Uninstall
|
||||
|
||||
Add exclusion in Windows Security:
|
||||
- Path: `C:\Users\YourName\AppData\Local\Packages\CanonicalGroupLimited*`
|
||||
|
||||
### 4. Use Fast SSD
|
||||
|
||||
Move WSL to SSD if on HDD:
|
||||
|
||||
```powershell
|
||||
wsl --export Ubuntu-22.04 ubuntu-backup.tar
|
||||
wsl --unregister Ubuntu-22.04
|
||||
wsl --import Ubuntu-22.04 D:\WSL\Ubuntu ubuntu-backup.tar
|
||||
```bash
|
||||
bash scripts/uninstall.sh --all
|
||||
```
|
||||
|
||||
---
|
||||
|
||||
## Useful WSL Commands
|
||||
|
||||
```powershell
|
||||
# List WSL distributions
|
||||
wsl --list --verbose
|
||||
|
||||
# Shutdown WSL (free resources)
|
||||
wsl --shutdown
|
||||
|
||||
# Access WSL files from Windows
|
||||
\\wsl$\Ubuntu-22.04\home\youruser
|
||||
|
||||
# Run Linux command from Windows
|
||||
wsl ls -la
|
||||
|
||||
# Set default WSL distribution
|
||||
wsl --set-default Ubuntu-22.04
|
||||
```
|
||||
|
||||
---
|
||||
|
||||
## Troubleshooting Resources
|
||||
|
||||
- **WSL Issues**: https://github.com/microsoft/WSL/issues
|
||||
- **Gazebo WSL**: https://classic.gazebosim.org/tutorials?tut=wsl
|
||||
- **ROS 2 WSL**: https://docs.ros.org/en/humble/How-To-Guides/Installing-on-Raspberry-Pi.html
|
||||
- **ArduPilot Forums**: https://discuss.ardupilot.org/
|
||||
|
||||
---
|
||||
|
||||
## Next Steps
|
||||
|
||||
After successful installation:
|
||||
|
||||
1. Read the [Usage Guide](usage.md)
|
||||
2. Understand [GPS-Denied Navigation](gps_denied_navigation.md)
|
||||
3. Review [Architecture](architecture.md)
|
||||
4. Try example missions in `docs/usage.md`
|
||||
|
||||
---
|
||||
|
||||
## Known Limitations in WSL
|
||||
|
||||
1. **Performance**: ~70% of native Linux performance
|
||||
2. **GPU**: Limited DirectX translation in WSLg
|
||||
3. **Real-time**: WSL2 is not real-time capable
|
||||
4. **USB**: Direct USB forwarding requires usbipd-win
|
||||
5. **GUI**: Some OpenGL features may not work perfectly
|
||||
|
||||
For production work, consider **dual-boot Ubuntu 22.04** or a **native Linux installation**.
|
||||
|
||||
Reference in New Issue
Block a user