Scripts Update

docs/setup_guide.md

@@ -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`
-