Initial Commit

scripts/kill_simulation.sh

@@ -0,0 +1,19 @@
+#!/bin/bash
+
+echo "Killing all simulation processes..."
+
+pkill -9 -f "gazebo" 2>/dev/null || true
+pkill -9 -f "gzserver" 2>/dev/null || true
+pkill -9 -f "gzclient" 2>/dev/null || true
+pkill -9 -f "sim_vehicle.py" 2>/dev/null || true
+pkill -9 -f "mavproxy" 2>/dev/null || true
+pkill -9 -f "mavros" 2>/dev/null || true
+pkill -9 -f "ArduCopter" 2>/dev/null || true
+pkill -9 -f "ArduRover" 2>/dev/null || true
+pkill -9 -f "ros2" 2>/dev/null || true
+
+sleep 1
+
+echo "All processes killed."
+echo "Remaining ROS nodes:"
+ros2 node list 2>/dev/null || echo "No ROS nodes running"

scripts/run_simulation.sh

@@ -0,0 +1,53 @@
+#!/bin/bash
+set -e
+
+SCRIPT_DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" && pwd)"
+PROJECT_DIR="$(dirname "$SCRIPT_DIR")"
+
+echo "=========================================="
+echo "UAV-UGV Simulation - Run Script"
+echo "GPS-Denied Navigation with Geofencing"
+echo "=========================================="
+
+WORLD="${1:-$PROJECT_DIR/worlds/empty_custom.world}"
+
+if [ ! -f "$WORLD" ]; then
+    echo "World file not found: $WORLD"
+    echo "Using default world..."
+    WORLD="$PROJECT_DIR/worlds/empty_custom.world"
+fi
+
+export GAZEBO_MODEL_PATH="$PROJECT_DIR/models:$GAZEBO_MODEL_PATH"
+export GAZEBO_RESOURCE_PATH="$PROJECT_DIR/worlds:$GAZEBO_RESOURCE_PATH"
+
+if command -v nvidia-smi &> /dev/null; then
+    echo "NVIDIA GPU detected, enabling acceleration..."
+    export __NV_PRIME_RENDER_OFFLOAD=1
+    export __GLX_VENDOR_LIBRARY_NAME=nvidia
+fi
+
+cleanup() {
+    echo ""
+    echo "Shutting down simulation..."
+    pkill -f "gazebo" 2>/dev/null || true
+    pkill -f "sim_vehicle.py" 2>/dev/null || true
+    pkill -f "mavros" 2>/dev/null || true
+    echo "Cleanup complete."
+}
+
+trap cleanup EXIT
+
+echo "Starting simulation with world: $WORLD"
+echo ""
+
+if [ -f "$PROJECT_DIR/venv/bin/activate" ]; then
+    source "$PROJECT_DIR/venv/bin/activate"
+fi
+
+source /opt/ros/humble/setup.bash 2>/dev/null || true
+
+if [ -f "$PROJECT_DIR/install/setup.bash" ]; then
+    source "$PROJECT_DIR/install/setup.bash"
+fi
+
+ros2 launch uav_ugv_simulation full_simulation.launch.py world:="$WORLD"

scripts/setup_gazebo_nvidia.sh

@@ -0,0 +1,25 @@
+#!/bin/bash
+
+echo "Setting up NVIDIA GPU for Gazebo..."
+
+if ! command -v nvidia-smi &> /dev/null; then
+    echo "NVIDIA driver not found. Skipping GPU setup."
+    exit 0
+fi
+
+echo "NVIDIA GPU detected:"
+nvidia-smi --query-gpu=name,driver_version --format=csv,noheader
+
+export __NV_PRIME_RENDER_OFFLOAD=1
+export __GLX_VENDOR_LIBRARY_NAME=nvidia
+export VK_ICD_FILENAMES=/usr/share/vulkan/icd.d/nvidia_icd.json
+
+if [ -f /usr/lib/x86_64-linux-gnu/libEGL_nvidia.so.0 ]; then
+    export __EGL_VENDOR_LIBRARY_FILENAMES=/usr/share/glvnd/egl_vendor.d/10_nvidia.json
+fi
+
+echo "NVIDIA GPU environment configured."
+echo ""
+echo "Add these to your ~/.bashrc for permanent setup:"
+echo "  export __NV_PRIME_RENDER_OFFLOAD=1"
+echo "  export __GLX_VENDOR_LIBRARY_NAME=nvidia"