Initial Commit

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"