Bug Fixes

scripts/run_autonomous.sh

@@ -98,7 +98,7 @@ print_info "==================================="
 print_info "  UAV-UGV Simulation"
 print_info "==================================="
 print_info "World:    $WORLD_FILE"
-print_info "Mission:  $MISSION"
+print_info "Search:   $SEARCH"
 echo ""
 GZ_DEFAULT_GUI="/usr/share/gz/gz-sim8/gui/gui.config"
 GZ_USER_GUI="$HOME/.gz/sim/8/gui.config"
@@ -147,12 +147,19 @@ if [ -f "$PARAM_FILE" ]; then
 fi
 sim_vehicle.py $SITL_ARGS &
 SITL_PID=$!
-print_info "Waiting for SITL (~20s) ..."
-sleep 20
-if ! pgrep -f "arducopter" > /dev/null 2>&1; then
-    print_error "ArduPilot SITL failed to start"
-    exit 1
-fi
+print_info "Waiting for SITL to start ..."
+SITL_TIMEOUT=60
+SITL_WAITED=0
+while ! pgrep -f "arducopter" > /dev/null 2>&1; do
+    sleep 2
+    SITL_WAITED=$((SITL_WAITED + 2))
+    if [ $SITL_WAITED -ge $SITL_TIMEOUT ]; then
+        print_error "ArduPilot SITL failed to start after ${SITL_TIMEOUT}s"
+        exit 1
+    fi
+    print_info "  Waiting for arducopter process ... (${SITL_WAITED}s)"
+done
+sleep 5
 print_success "ArduPilot SITL running (TCP 5760)"
 print_info "[3/4] Starting main.py ..."
 cd "$PROJECT_DIR"