Gazebo Script Fixes

activate_venv.sh

@@ -1,11 +1,61 @@
 #!/bin/bash
+# Activate virtual environment and setup for UAV-UGV Simulation
+
 SCRIPT_DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" && pwd)"
-source "$SCRIPT_DIR/venv/bin/activate"
-source /opt/ros/humble/setup.bash
-if [ -f "$SCRIPT_DIR/install/setup.bash" ]; then
+
+# Detect ROS distro
+ROS_DISTRO=""
+for distro in humble jazzy iron galactic; do
+    if [ -d "/opt/ros/$distro" ]; then
+        ROS_DISTRO="$distro"
+        break
+    fi
+done
+
+# Source ROS 2
+if [ -n "$ROS_DISTRO" ] && [ -f "/opt/ros/${ROS_DISTRO}/setup.bash" ]; then
+    source /opt/ros/${ROS_DISTRO}/setup.bash
+fi
+
+# Source Gazebo setup (critical for shader/resource paths)
+if [ -f /usr/share/gazebo/setup.bash ]; then
+    source /usr/share/gazebo/setup.bash
+elif [ -f /usr/share/gazebo-11/setup.bash ]; then
+    source /usr/share/gazebo-11/setup.bash
+fi
+
+# Activate Python virtual environment
+if [ -f "$SCRIPT_DIR/venv/bin/activate" ]; then
+    source "$SCRIPT_DIR/venv/bin/activate"
+fi
+
+# Source ROS workspace if built
+if [ -f "$SCRIPT_DIR/../install/setup.bash" ]; then
+    source "$SCRIPT_DIR/../install/setup.bash"
+elif [ -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."
+
+# Gazebo model and resource paths
+export GAZEBO_MODEL_PATH="$SCRIPT_DIR/models:${GAZEBO_MODEL_PATH:-}"
+export GAZEBO_RESOURCE_PATH="$SCRIPT_DIR/worlds:${GAZEBO_RESOURCE_PATH:-}"
+
+# ArduPilot Gazebo (if installed)
+if [ -d "$HOME/ardupilot_gazebo" ]; then
+    export GAZEBO_MODEL_PATH="$HOME/ardupilot_gazebo/models:$GAZEBO_MODEL_PATH"
+    export GAZEBO_RESOURCE_PATH="$HOME/ardupilot_gazebo/worlds:$GAZEBO_RESOURCE_PATH"
+fi
+
+# WSL environment (if applicable)
+if grep -qEi "(microsoft|wsl)" /proc/version 2>/dev/null; then
+    if [ -f "$SCRIPT_DIR/wsl_env.sh" ]; then
+        source "$SCRIPT_DIR/wsl_env.sh"
+    fi
+fi
+
+echo -e "\033[0;32mEnvironment activated (ROS 2 ${ROS_DISTRO:-not found})\033[0m"
 echo "Run: bash scripts/run_simulation.sh"
+echo ""
+echo "Options:"
+echo "  bash scripts/run_simulation.sh                    # Default world"
+echo "  bash scripts/run_simulation.sh --software-render  # For WSL/rendering issues"