Initial Commit

setup.sh

@@ -0,0 +1,93 @@
+#!/bin/bash
+set -e
+
+echo "=========================================="
+echo "UAV-UGV Simulation Setup"
+echo "Ubuntu 22.04 + Python 3.10 + ROS 2 Humble"
+echo "GPS-Denied Navigation with Geofencing"
+echo "=========================================="
+echo ""
+
+SCRIPT_DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" && pwd)"
+cd "$SCRIPT_DIR"
+
+echo "[1/7] Updating system packages..."
+sudo apt-get update
+
+echo "[2/7] Installing system dependencies..."
+sudo apt-get install -y \
+    python3-pip \
+    python3-venv \
+    python3-opencv \
+    libopencv-dev \
+    ros-humble-mavros \
+    ros-humble-mavros-extras \
+    ros-humble-cv-bridge \
+    ros-humble-image-transport \
+    ros-humble-gazebo-ros-pkgs \
+    ros-humble-tf2 \
+    ros-humble-tf2-ros \
+    ros-humble-tf2-geometry-msgs
+
+echo "[3/7] Installing MAVROS GeographicLib datasets..."
+if [ ! -f /usr/share/GeographicLib/geoids/egm96-5.pgm ]; then
+    sudo /opt/ros/humble/lib/mavros/install_geographiclib_datasets.sh || true
+fi
+
+echo "[4/7] Creating Python virtual environment..."
+if [ ! -d "venv" ]; then
+    python3 -m venv venv
+fi
+source venv/bin/activate
+
+echo "[5/7] Installing Python dependencies..."
+pip install --upgrade pip
+pip install -r requirements.txt
+
+echo "[6/7] Building ROS 2 package..."
+source /opt/ros/humble/setup.bash
+
+cd ..
+if [ -d "$(dirname "$SCRIPT_DIR")/src" ]; then
+    cd "$(dirname "$SCRIPT_DIR")"
+fi
+
+if [ -f "$SCRIPT_DIR/package.xml" ]; then
+    colcon build --packages-select uav_ugv_simulation --symlink-install 2>/dev/null || \
+    echo "Colcon build skipped - run from ROS workspace"
+fi
+
+cd "$SCRIPT_DIR"
+
+echo "[7/7] Making scripts executable..."
+chmod +x scripts/*.sh
+
+cat > activate_venv.sh << 'EOF'
+#!/bin/bash
+SCRIPT_DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" && pwd)"
+source "$SCRIPT_DIR/venv/bin/activate"
+source /opt/ros/humble/setup.bash
+if [ -f "$SCRIPT_DIR/install/setup.bash" ]; then
+    source "$SCRIPT_DIR/install/setup.bash"
+fi
+export GAZEBO_MODEL_PATH="$SCRIPT_DIR/models:$GAZEBO_MODEL_PATH"
+export GAZEBO_RESOURCE_PATH="$SCRIPT_DIR/worlds:$GAZEBO_RESOURCE_PATH"
+echo "Environment activated."
+echo "Run: bash scripts/run_simulation.sh"
+EOF
+chmod +x activate_venv.sh
+
+echo ""
+echo "=========================================="
+echo "Setup Complete!"
+echo "=========================================="
+echo ""
+echo "Next steps:"
+echo "  1. source ~/.bashrc"
+echo "  2. source activate_venv.sh"
+echo "  3. bash scripts/run_simulation.sh"
+echo ""
+echo "GPS-Denied Navigation:"
+echo "  - All navigation uses LOCAL coordinates"
+echo "  - GPS is ONLY used for geofencing"
+echo ""