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Camera Sim Update

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SirBlobby
2026-02-12 14:29:32 -05:00
parent 0e427f3597
commit 92da41138b
27 changed files with 1353 additions and 1317 deletions
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31
setup.sh
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@@ -247,6 +247,11 @@ if sudo apt-get install -y gz-harmonic 2>/dev/null; then
libgz-msgs10-dev \
rapidjson-dev \
2>/dev/null || print_warning "Some Gazebo dev packages may be missing"
# Install Gazebo Python bindings (needed for camera/vision scripts)
sudo apt-get install -y \
python3-gz-transport13 \
python3-gz-msgs10 \
2>/dev/null || print_warning "Gazebo Python bindings not available via apt"
elif sudo apt-get install -y gz-garden 2>/dev/null; then
GZ_VERSION="garden"
# Install Garden development packages
@@ -262,6 +267,11 @@ elif sudo apt-get install -y gz-garden 2>/dev/null; then
libgz-msgs9-dev \
rapidjson-dev \
2>/dev/null || print_warning "Some Gazebo dev packages may be missing"
# Install Gazebo Python bindings for Garden
sudo apt-get install -y \
python3-gz-transport12 \
python3-gz-msgs9 \
2>/dev/null || print_warning "Gazebo Python bindings not available via apt"
else
print_warning "Could not install Gazebo Harmonic/Garden"
GZ_VERSION="none"
@@ -283,7 +293,10 @@ if [ -d "$SCRIPT_DIR/venv" ]; then
rm -rf "$SCRIPT_DIR/venv"
fi
python3 -m venv "$SCRIPT_DIR/venv"
# --system-site-packages is required so the venv can access
# Gazebo Python bindings (gz.transport13, gz.msgs10) which are
# installed as system packages and cannot be pip-installed.
python3 -m venv --system-site-packages "$SCRIPT_DIR/venv"
source "$SCRIPT_DIR/venv/bin/activate"
pip install --upgrade pip
@@ -357,7 +370,7 @@ fi
echo -e "\033[0;32mEnvironment activated (ROS 2 $ROS_VER)\033[0m"
echo ""
echo "Run simulation: bash scripts/run_simulation.sh"
echo "Run simulation: bash scripts/run_autonomous.sh --mission hover"
ACTIVATE_EOF
chmod +x "$SCRIPT_DIR/activate_venv.sh"
@@ -478,6 +491,18 @@ if [ "$INSTALL_ARDUPILOT" = true ]; then
command -v gz &> /dev/null && echo "[OK] Gazebo (gz)" || echo "[WARN] Gazebo not found"
command -v mavproxy.py &> /dev/null && echo "[OK] MAVProxy" || echo "[WARN] MAVProxy not in PATH"
[ -f "$ARDUPILOT_GZ/build/libArduPilotPlugin.so" ] && echo "[OK] ArduPilot Gazebo plugin" || echo "[WARN] Plugin not built"
# Verify Gazebo Python bindings are accessible from venv
source "$SCRIPT_DIR/venv/bin/activate"
python3 -c "from gz.transport13 import Node; print('[OK] gz.transport13 Python bindings')" 2>/dev/null || \
echo "[WARN] gz.transport13 Python bindings not found"
python3 -c "from gz.msgs10.image_pb2 import Image; print('[OK] gz.msgs10 Python bindings')" 2>/dev/null || \
echo "[WARN] gz.msgs10 Python bindings not found"
python3 -c "import pymavlink; print('[OK] pymavlink')" 2>/dev/null || \
echo "[WARN] pymavlink not found in venv"
python3 -c "import cv2; print(f'[OK] OpenCV {cv2.__version__}')" 2>/dev/null || \
echo "[WARN] OpenCV not found in venv"
deactivate
((STEP++))
fi
@@ -513,6 +538,6 @@ echo -e "${CYAN}To run the simulation:${NC}"
echo ""
echo " cd $SCRIPT_DIR"
echo " source activate_venv.sh"
echo " bash scripts/run_simulation.sh"
echo " bash scripts/run_autonomous.sh --mission hover"
echo ""
echo -e "${GREEN}==========================================${NC}"