Initial Commit

setup.py

@@ -0,0 +1,77 @@
+"""ROS 2 Python package setup for UAV-UGV Simulation."""
+
+from setuptools import setup, find_packages
+import os
+from glob import glob
+
+package_name = 'uav_ugv_simulation'
+
+setup(
+    name=package_name,
+    version='1.0.0',
+    packages=find_packages(exclude=['tests']),
+    data_files=[
+        # Package resource index
+        ('share/ament_index/resource_index/packages',
+            ['resource/' + package_name]),
+        # Package.xml
+        ('share/' + package_name, ['package.xml']),
+        # Launch files
+        (os.path.join('share', package_name, 'launch'),
+            glob('launch/*.py')),
+        (os.path.join('share', package_name, 'launch', 'utils'),
+            glob('launch/utils/*.py')),
+        # Config files
+        (os.path.join('share', package_name, 'config'),
+            glob('config/*.yaml') + glob('config/*.parm')),
+        # World files
+        (os.path.join('share', package_name, 'worlds'),
+            glob('worlds/*.world')),
+        # Model files
+        (os.path.join('share', package_name, 'models', 'iris_with_camera'),
+            glob('models/iris_with_camera/*')),
+        (os.path.join('share', package_name, 'models', 'iris_with_sensors'),
+            glob('models/iris_with_sensors/*')),
+        (os.path.join('share', package_name, 'models', 'custom_ugv'),
+            glob('models/custom_ugv/*')),
+        # Scripts
+        (os.path.join('share', package_name, 'scripts'),
+            glob('scripts/*.sh')),
+    ],
+    install_requires=['setuptools'],
+    zip_safe=True,
+    maintainer='Developer',
+    maintainer_email='developer@example.com',
+    description='UAV-UGV Gazebo SITL Simulation with GPS-Denied Navigation',
+    license='MIT',
+    tests_require=['pytest'],
+    entry_points={
+        'console_scripts': [
+            # Vision nodes
+            'visual_odom_node = src.nodes.visual_odom_node:main',
+            'camera_processor = src.vision.camera_processor:main',
+            'optical_flow_node = src.vision.optical_flow:main',
+            
+            # Localization nodes
+            'position_estimator = src.localization.position_estimator:main',
+            'ekf_fusion_node = src.localization.ekf_fusion:main',
+            
+            # Navigation nodes
+            'vision_nav_node = src.nodes.vision_nav_node:main',
+            'local_planner = src.navigation.local_planner:main',
+            'waypoint_follower = src.navigation.waypoint_follower:main',
+            
+            # Control nodes
+            'uav_controller = src.control.uav_controller:main',
+            'ugv_controller = src.control.ugv_controller:main',
+            'mission_planner = src.control.mission_planner:main',
+            
+            # Safety nodes
+            'geofence_node = src.nodes.geofence_node:main',
+            'failsafe_handler = src.safety.failsafe_handler:main',
+            
+            # Coordination
+            'multi_vehicle_coord = src.nodes.multi_vehicle_coord:main',
+        ],
+    },
+)