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docs/setup_guide.md

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+# Setup Guide
+
+## System Requirements
+
+- **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
+
+## Installation Steps
+
+### 1. Install ROS 2 Humble
+
+```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 $(lsb_release -cs) main" | sudo tee /etc/apt/sources.list.d/ros2.list > /dev/null
+
+# Install ROS 2 Humble
+sudo apt update
+sudo apt install ros-humble-desktop
+
+# Source ROS 2
+echo "source /opt/ros/humble/setup.bash" >> ~/.bashrc
+source ~/.bashrc
+```
+
+### 2. Install Gazebo Classic
+
+```bash
+sudo apt install gazebo11 libgazebo11-dev ros-humble-gazebo-ros-pkgs
+```
+
+### 3. Install ArduPilot SITL
+
+```bash
+# Clone ArduPilot
+cd ~
+git clone https://github.com/ArduPilot/ardupilot.git
+cd ardupilot
+git submodule update --init --recursive
+
+# Install dependencies
+Tools/environment_install/install-prereqs-ubuntu.sh -y
+. ~/.profile
+
+# Build SITL
+./waf configure --board sitl
+./waf copter
+```
+
+### 4. Install ardupilot_gazebo Plugin
+
+```bash
+cd ~
+git clone https://github.com/ArduPilot/ardupilot_gazebo.git
+cd ardupilot_gazebo
+mkdir build && cd build
+cmake ..
+make -j4
+sudo make install
+
+# Add to environment
+echo 'export GAZEBO_MODEL_PATH=$HOME/ardupilot_gazebo/models:$GAZEBO_MODEL_PATH' >> ~/.bashrc
+echo 'export GAZEBO_RESOURCE_PATH=$HOME/ardupilot_gazebo/worlds:$GAZEBO_RESOURCE_PATH' >> ~/.bashrc
+source ~/.bashrc
+```
+
+### 5. Setup This Project
+
+```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
+```
+
+## Verification
+
+### Test ROS 2
+```bash
+ros2 topic list
+```
+
+### Test Gazebo
+```bash
+gazebo --verbose
+```
+
+### 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')"
+```
+
+## Running the Simulation
+
+```bash
+cd ~/ros2_ws/src/uav_ugv_simulation
+source activate_venv.sh
+bash scripts/run_simulation.sh
+```
+
+## NVIDIA GPU Setup (Optional)
+
+For better Gazebo performance with NVIDIA GPU:
+
+```bash
+bash scripts/setup_gazebo_nvidia.sh
+```
+
+## Troubleshooting
+
+### "Package not found" error
+```bash
+cd ~/ros2_ws
+colcon build --packages-select uav_ugv_simulation
+source install/setup.bash
+```
+
+### 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`
+