Code reorganization. Display recording fixes. Search Flight Planner Fixes. Bug Fixes

setup.sh

@@ -1,24 +1,11 @@
 #!/bin/bash
-# =============================================================================
-# UAV-UGV Simulation - Complete Installation Script
-# =============================================================================
-# Installs everything needed for GPS-denied navigation simulation
-# Compatible with Ubuntu 22.04/24.04 and WSL2
-#
-# Usage:
-#   ./setup.sh                    # Full installation
-#   ./setup.sh --skip-ardupilot   # Skip ArduPilot (Gazebo only)
-# =============================================================================
-
 set -e
-
 RED='\033[0;31m'
 GREEN='\033[0;32m'
 YELLOW='\033[1;33m'
 BLUE='\033[0;34m'
 CYAN='\033[0;36m'
 NC='\033[0m'
-
 print_header() {
     echo ""
     echo -e "${BLUE}==========================================${NC}"
@@ -26,49 +13,34 @@ print_header() {
     echo -e "${BLUE}==========================================${NC}"
     echo ""
 }
-
 print_step() {
     echo -e "${GREEN}[$1/$TOTAL_STEPS] $2${NC}"
 }
-
 print_info() {
     echo -e "${CYAN}INFO: $1${NC}"
 }
-
 print_warning() {
     echo -e "${YELLOW}WARNING: $1${NC}"
 }
-
 print_error() {
     echo -e "${RED}ERROR: $1${NC}"
 }
-
-# Get script directory
 SCRIPT_DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" && pwd)"
 cd "$SCRIPT_DIR"
-
-# Deactivate existing venv if active to avoid conflicts
 if [ -n "$VIRTUAL_ENV" ]; then
     deactivate 2>/dev/null || true
 fi
-
-# ArduPilot directories
 ARDUPILOT_HOME="$HOME/ardupilot"
 ARDUPILOT_GZ="$HOME/ardupilot_gazebo"
-
-# Detect environment
 detect_environment() {
     IS_WSL=false
     IS_WSL2=false
-    
     if grep -qEi "(microsoft|wsl)" /proc/version 2>/dev/null; then
         IS_WSL=true
         if grep -qi "wsl2" /proc/version 2>/dev/null || [ -f /run/WSL ]; then
             IS_WSL2=true
         fi
     fi
-    
-    # Detect Ubuntu version
     if [ -f /etc/os-release ]; then
         . /etc/os-release
         UBUNTU_VERSION="$VERSION_ID"
@@ -77,8 +49,6 @@ detect_environment() {
         UBUNTU_VERSION="22.04"
         UBUNTU_CODENAME="jammy"
     fi
-    
-    # Determine ROS distro and compatible repository codename
     if [ "$UBUNTU_VERSION" = "24.04" ]; then
         ROS_DISTRO="jazzy"
         ROS_UBUNTU_CODENAME="noble"
@@ -86,7 +56,6 @@ detect_environment() {
         ROS_DISTRO="humble"
         ROS_UBUNTU_CODENAME="jammy"
     else
-        # For newer versions, use latest available
         UBUNTU_MAJOR=$(echo "$UBUNTU_VERSION" | cut -d. -f1)
         if [ "$UBUNTU_MAJOR" -ge 24 ] 2>/dev/null; then
             ROS_DISTRO="jazzy"
@@ -97,40 +66,29 @@ detect_environment() {
         fi
     fi
 }
-
-# Parse arguments
 INSTALL_ARDUPILOT=true
 for arg in "$@"; do
     if [ "$arg" = "--skip-ardupilot" ]; then
         INSTALL_ARDUPILOT=false
     fi
 done
-
 detect_environment
-
 print_header "UAV-UGV Simulation - Complete Setup"
 echo "GPS-Denied Navigation with Geofencing"
 echo ""
-
 echo -e "${CYAN}Detected Environment:${NC}"
 echo "  Ubuntu: $UBUNTU_VERSION ($UBUNTU_CODENAME)"
 echo "  WSL: $IS_WSL | WSL2: $IS_WSL2"
 echo "  ROS 2 Target: $ROS_DISTRO"
 echo "  ArduPilot: $INSTALL_ARDUPILOT"
 echo ""
-
 if [ "$INSTALL_ARDUPILOT" = true ]; then
     TOTAL_STEPS=10
 else
     TOTAL_STEPS=7
 fi
 STEP=1
-
-# ============================================================================
-# STEP 1: System Update & Dependencies
-# ============================================================================
 print_step $STEP "Installing system dependencies"
-
 sudo apt-get update
 sudo apt-get install -y \
     curl \
@@ -165,9 +123,10 @@ sudo apt-get install -y \
     ccache \
     gawk \
     libtool-bin \
-    netcat-openbsd
-
-# WSL-specific packages
+    netcat-openbsd \
+    ffmpeg \
+    xdotool \
+    x11-utils
 if $IS_WSL; then
     print_info "Installing WSL GUI support packages"
     sudo apt-get install -y \
@@ -178,24 +137,13 @@ if $IS_WSL; then
         libgl1-mesa-glx
 fi
 ((STEP++))
-
-# ============================================================================
-# STEP 2: Install ROS 2
-# ============================================================================
 print_step $STEP "Installing ROS 2 $ROS_DISTRO"
-
-# Add ROS 2 GPG key
 sudo curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key \
     -o /usr/share/keyrings/ros-archive-keyring.gpg
-
-# Add repository using compatible Ubuntu codename
 echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] \
     http://packages.ros.org/ros2/ubuntu $ROS_UBUNTU_CODENAME main" | \
     sudo tee /etc/apt/sources.list.d/ros2.list > /dev/null
-
 sudo apt-get update
-
-# Install ROS 2
 sudo apt-get install -y \
     ros-${ROS_DISTRO}-ros-base \
     ros-${ROS_DISTRO}-geometry-msgs \
@@ -206,35 +154,21 @@ sudo apt-get install -y \
     print_error "Failed to install ROS 2 $ROS_DISTRO"
     exit 1
 }
-
-# Install ros-gz bridge
 sudo apt-get install -y ros-${ROS_DISTRO}-ros-gz || \
     print_warning "Could not install ros-gz bridge"
-
 print_info "ROS 2 $ROS_DISTRO installed"
 ((STEP++))
-
-# ============================================================================
-# STEP 3: Install Gazebo (Harmonic or Garden)
-# ============================================================================
 print_step $STEP "Installing Gazebo"
-
-# Add Gazebo repository
 GZ_UBUNTU_CODENAME="$ROS_UBUNTU_CODENAME"
 sudo wget -q https://packages.osrfoundation.org/gazebo.gpg \
     -O /usr/share/keyrings/pkgs-osrf-archive-keyring.gpg 2>/dev/null || true
-
 echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/pkgs-osrf-archive-keyring.gpg] \
     http://packages.osrfoundation.org/gazebo/ubuntu-stable $GZ_UBUNTU_CODENAME main" | \
     sudo tee /etc/apt/sources.list.d/gazebo-stable.list > /dev/null
-
 sudo apt-get update
-
-# Try Gazebo Harmonic first, then Garden
 GZ_VERSION=""
 if sudo apt-get install -y gz-harmonic 2>/dev/null; then
     GZ_VERSION="harmonic"
-    # Install Harmonic development packages for building plugins
     sudo apt-get install -y \
         libgz-cmake3-dev \
         libgz-sim8-dev \
@@ -247,14 +181,12 @@ if sudo apt-get install -y gz-harmonic 2>/dev/null; then
         libgz-msgs10-dev \
         rapidjson-dev \
         2>/dev/null || print_warning "Some Gazebo dev packages may be missing"
-    # Install Gazebo Python bindings (needed for camera/vision scripts)
     sudo apt-get install -y \
         python3-gz-transport13 \
         python3-gz-msgs10 \
         2>/dev/null || print_warning "Gazebo Python bindings not available via apt"
 elif sudo apt-get install -y gz-garden 2>/dev/null; then
     GZ_VERSION="garden"
-    # Install Garden development packages
     sudo apt-get install -y \
         libgz-cmake3-dev \
         libgz-sim7-dev \
@@ -267,7 +199,6 @@ elif sudo apt-get install -y gz-garden 2>/dev/null; then
         libgz-msgs9-dev \
         rapidjson-dev \
         2>/dev/null || print_warning "Some Gazebo dev packages may be missing"
-    # Install Gazebo Python bindings for Garden
     sudo apt-get install -y \
         python3-gz-transport12 \
         python3-gz-msgs9 \
@@ -276,52 +207,29 @@ else
     print_warning "Could not install Gazebo Harmonic/Garden"
     GZ_VERSION="none"
 fi
-
 if command -v gz &> /dev/null; then
     print_info "Gazebo $GZ_VERSION installed"
 else
     print_warning "Gazebo command not found"
 fi
 ((STEP++))
-
-# ============================================================================
-# STEP 4: Python Virtual Environment
-# ============================================================================
 print_step $STEP "Setting up Python environment"
-
 if [ -d "$SCRIPT_DIR/venv" ]; then
     rm -rf "$SCRIPT_DIR/venv"
 fi
-
-# --system-site-packages is required so the venv can access
-# Gazebo Python bindings (gz.transport13, gz.msgs10) which are
-# installed as system packages and cannot be pip-installed.
 python3 -m venv --system-site-packages "$SCRIPT_DIR/venv"
 source "$SCRIPT_DIR/venv/bin/activate"
 pip install --upgrade pip
-
 if [ -f "$SCRIPT_DIR/requirements.txt" ]; then
     pip install -r "$SCRIPT_DIR/requirements.txt" || print_warning "Some Python packages failed"
 else
     pip install numpy opencv-python scipy shapely filterpy transforms3d pymavlink pexpect future
 fi
-
 deactivate
 ((STEP++))
-
-# ============================================================================
-# STEP 5: Create Activation Script
-# ============================================================================
 print_step $STEP "Creating activation script"
-
 cat > "$SCRIPT_DIR/activate_venv.sh" << 'ACTIVATE_EOF'
-#!/bin/bash
-# UAV-UGV Simulation - Environment Activation
-# Usage: source activate_venv.sh
-
 SCRIPT_DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" && pwd)"
-
-# ROS 2 Setup
 if [ -f "/opt/ros/jazzy/setup.bash" ]; then
     source /opt/ros/jazzy/setup.bash
     ROS_VER="jazzy"
@@ -332,32 +240,20 @@ else
     echo "[WARN] ROS 2 not found in /opt/ros/"
     ROS_VER="none"
 fi
-
-# ArduPilot Environment
 export ARDUPILOT_HOME="$HOME/ardupilot"
 export PATH="$ARDUPILOT_HOME/Tools/autotest:$PATH"
 export PATH="$HOME/.local/bin:$PATH"
-
-# Deactivate existing venv
 if [ -n "$VIRTUAL_ENV" ]; then
     deactivate 2>/dev/null || true
 fi
-
-# Activate project venv
 if [ -f "$SCRIPT_DIR/venv/bin/activate" ]; then
     source "$SCRIPT_DIR/venv/bin/activate"
 fi
-
-# Gazebo paths (new Gazebo - Ignition/Harmonic)
 export GZ_SIM_RESOURCE_PATH="$SCRIPT_DIR/models:$SCRIPT_DIR/worlds:${GZ_SIM_RESOURCE_PATH:-}"
-
-# ArduPilot Gazebo plugin
 if [ -d "$HOME/ardupilot_gazebo/build" ]; then
     export GZ_SIM_SYSTEM_PLUGIN_PATH="$HOME/ardupilot_gazebo/build:${GZ_SIM_SYSTEM_PLUGIN_PATH:-}"
     export GZ_SIM_RESOURCE_PATH="$HOME/ardupilot_gazebo/models:$HOME/ardupilot_gazebo/worlds:$GZ_SIM_RESOURCE_PATH"
 fi
-
-# WSL environment
 if grep -qEi "(microsoft|wsl)" /proc/version 2>/dev/null; then
     if [ -d "/mnt/wslg" ]; then
         export DISPLAY=:0
@@ -367,31 +263,20 @@ if grep -qEi "(microsoft|wsl)" /proc/version 2>/dev/null; then
     export LIBGL_ALWAYS_INDIRECT=0
     export MESA_GL_VERSION_OVERRIDE=3.3
 fi
-
 echo -e "\033[0;32mEnvironment activated (ROS 2 $ROS_VER)\033[0m"
 echo ""
 echo "Run simulation:  bash scripts/run_autonomous.sh --search spiral"
 ACTIVATE_EOF
-
 chmod +x "$SCRIPT_DIR/activate_venv.sh"
 ((STEP++))
-
-# ============================================================================
-# STEP 6: Create WSL Environment (if applicable)
-# ============================================================================
 print_step $STEP "Configuring environment files"
-
 if $IS_WSL; then
     cat > "$SCRIPT_DIR/wsl_env.sh" << 'WSLEOF'
-#!/bin/bash
-# WSL Environment for UAV-UGV Simulation
-
 if [ -d "/mnt/wslg" ]; then
     export DISPLAY=:0
 else
     export DISPLAY=$(cat /etc/resolv.conf 2>/dev/null | grep nameserver | awk '{print $2}'):0
 fi
-
 export LIBGL_ALWAYS_INDIRECT=0
 export MESA_GL_VERSION_OVERRIDE=3.3
 export MESA_GLSL_VERSION_OVERRIDE=330
@@ -400,56 +285,30 @@ WSLEOF
     chmod +x "$SCRIPT_DIR/wsl_env.sh"
 fi
 ((STEP++))
-
-# ============================================================================
-# ARDUPILOT INSTALLATION (if not skipped)
-# ============================================================================
 if [ "$INSTALL_ARDUPILOT" = true ]; then
-
-    # ========================================================================
-    # STEP 7: Clone and Setup ArduPilot
-    # ========================================================================
     print_step $STEP "Setting up ArduPilot SITL"
-    
     if [ ! -d "$ARDUPILOT_HOME" ]; then
         print_info "Cloning ArduPilot repository..."
         git clone --recurse-submodules https://github.com/ArduPilot/ardupilot.git "$ARDUPILOT_HOME"
     else
         print_info "ArduPilot directory already exists"
     fi
-    
     cd "$ARDUPILOT_HOME"
     git submodule update --init --recursive
-    
-    # Install ArduPilot prerequisites
     print_info "Installing ArduPilot prerequisites (this may take a while)..."
     Tools/environment_install/install-prereqs-ubuntu.sh -y || true
     . ~/.profile 2>/dev/null || true
-    
-    # Source ArduPilot environment
     [ -f "$HOME/.ardupilot_env" ] && source "$HOME/.ardupilot_env"
-    
     print_info "ArduPilot prerequisites installed"
     ((STEP++))
-    
-    # ========================================================================
-    # STEP 8: Build ArduCopter SITL
-    # ========================================================================
     print_step $STEP "Building ArduPilot SITL (this takes several minutes)"
-    
     cd "$ARDUPILOT_HOME"
     ./waf configure --board sitl
     ./waf copter
     ./waf rover
-    
     print_info "ArduPilot SITL built"
     ((STEP++))
-    
-    # ========================================================================
-    # STEP 9: Build ArduPilot Gazebo Plugin
-    # ========================================================================
     print_step $STEP "Building ArduPilot Gazebo plugin"
-    
     if [ ! -d "$ARDUPILOT_GZ" ]; then
         print_info "Cloning ardupilot_gazebo repository..."
         git clone https://github.com/ArduPilot/ardupilot_gazebo.git "$ARDUPILOT_GZ"
@@ -458,46 +317,30 @@ if [ "$INSTALL_ARDUPILOT" = true ]; then
         cd "$ARDUPILOT_GZ"
         git pull origin main || true
     fi
-    
     cd "$ARDUPILOT_GZ"
     mkdir -p build && cd build
-    
-    # Deactivate venv so cmake finds system Python with ROS 2 ament packages
     deactivate 2>/dev/null || true
     cmake .. -DCMAKE_BUILD_TYPE=Release
     make -j$(nproc)
-    # Reactivate venv
     source "$SCRIPT_DIR/venv/bin/activate"
-    
     print_info "ArduPilot Gazebo plugin built"
-    
-    # Install MAVProxy using pipx (required for Ubuntu 23.04+ PEP 668)
     print_info "Installing MAVProxy..."
     if pipx install MAVProxy --include-deps; then
         print_info "Injecting dependencies into MAVProxy venv..."
         pipx inject mavproxy future pexpect
     else
-        # Fallback: try pip with --break-system-packages
         pip3 install --user --break-system-packages pymavlink mavproxy 2>/dev/null || \
         pip3 install --user pymavlink mavproxy 2>/dev/null || \
         print_warning "MAVProxy installation failed - install manually"
     fi
     ((STEP++))
-    
-    # ========================================================================
-    # STEP 10: Verify Installation
-    # ========================================================================
     print_step $STEP "Verifying installation"
-    
     export PATH=$PATH:$ARDUPILOT_HOME/Tools/autotest:$HOME/.local/bin
-    
     echo ""
     command -v sim_vehicle.py &> /dev/null && echo "[OK] sim_vehicle.py" || echo "[WARN] sim_vehicle.py not found"
     command -v gz &> /dev/null && echo "[OK] Gazebo (gz)" || echo "[WARN] Gazebo not found"
     command -v mavproxy.py &> /dev/null && echo "[OK] MAVProxy" || echo "[WARN] MAVProxy not in PATH"
     [ -f "$ARDUPILOT_GZ/build/libArduPilotPlugin.so" ] && echo "[OK] ArduPilot Gazebo plugin" || echo "[WARN] Plugin not built"
-    
-    # Verify Gazebo Python bindings are accessible from venv
     source "$SCRIPT_DIR/venv/bin/activate"
     python3 -c "from gz.transport13 import Node; print('[OK] gz.transport13 Python bindings')" 2>/dev/null || \
         echo "[WARN] gz.transport13 Python bindings not found"
@@ -509,19 +352,9 @@ if [ "$INSTALL_ARDUPILOT" = true ]; then
         echo "[WARN] OpenCV not found in venv"
     deactivate
     ((STEP++))
-
 fi
-
-# ============================================================================
-# Make scripts executable
-# ============================================================================
 chmod +x "$SCRIPT_DIR/scripts/"*.sh 2>/dev/null || true
-
-# ============================================================================
-# COMPLETE
-# ============================================================================
 print_header "Installation Complete!"
-
 echo -e "${GREEN}Components installed:${NC}"
 echo "  - ROS 2 $ROS_DISTRO"
 echo "  - Gazebo $GZ_VERSION"
@@ -531,14 +364,12 @@ if [ "$INSTALL_ARDUPILOT" = true ]; then
 fi
 echo "  - Python dependencies"
 echo ""
-
 if $IS_WSL; then
     echo -e "${YELLOW}WSL Notes:${NC}"
     echo "  - GUI requires WSLg (Win11) or VcXsrv (Win10)"
     echo "  - Use --software-render if graphics are slow"
     echo ""
 fi
-
 echo -e "${CYAN}To run the simulation:${NC}"
 echo ""
 echo "  cd $SCRIPT_DIR"