# Setup Guide

## System Requirements

- **OS**: Ubuntu 22.04 LTS (Jammy Jellyfish)
- **Python**: 3.10.x (native to Ubuntu 22.04)
- **ROS 2**: Humble Hawksbill
- **Gazebo**: Classic 11
- **RAM**: 8GB minimum, 16GB recommended
- **GPU**: NVIDIA GPU recommended for better performance

## Installation Steps

### 1. Install ROS 2 Humble

```bash
# Add ROS 2 repository
sudo apt update && sudo apt install curl gnupg lsb-release
sudo curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -o /usr/share/keyrings/ros-archive-keyring.gpg
echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] http://packages.ros.org/ros2/ubuntu $(lsb_release -cs) main" | sudo tee /etc/apt/sources.list.d/ros2.list > /dev/null

# Install ROS 2 Humble
sudo apt update
sudo apt install ros-humble-desktop

# Source ROS 2
echo "source /opt/ros/humble/setup.bash" >> ~/.bashrc
source ~/.bashrc
```

### 2. Install Gazebo Classic

```bash
sudo apt install gazebo11 libgazebo11-dev ros-humble-gazebo-ros-pkgs
```

### 3. Install ArduPilot SITL

```bash
# Clone ArduPilot
cd ~
git clone https://github.com/ArduPilot/ardupilot.git
cd ardupilot
git submodule update --init --recursive

# Install dependencies
Tools/environment_install/install-prereqs-ubuntu.sh -y
. ~/.profile

# Build SITL
./waf configure --board sitl
./waf copter
```

### 4. Install ardupilot_gazebo Plugin

```bash
cd ~
git clone https://github.com/ArduPilot/ardupilot_gazebo.git
cd ardupilot_gazebo
mkdir build && cd build
cmake ..
make -j4
sudo make install

# Add to environment
echo 'export GAZEBO_MODEL_PATH=$HOME/ardupilot_gazebo/models:$GAZEBO_MODEL_PATH' >> ~/.bashrc
echo 'export GAZEBO_RESOURCE_PATH=$HOME/ardupilot_gazebo/worlds:$GAZEBO_RESOURCE_PATH' >> ~/.bashrc
source ~/.bashrc
```

### 5. Setup This Project

```bash
# Clone to ROS 2 workspace
cd ~/ros2_ws/src
git clone <your-repo-url> uav_ugv_simulation
cd uav_ugv_simulation

# Run automated setup
bash setup.sh

# Reload environment
source ~/.bashrc
```

## Verification

### Test ROS 2
```bash
ros2 topic list
```

### Test Gazebo
```bash
gazebo --verbose
```

### Test ArduPilot SITL
```bash
cd ~/ardupilot/ArduCopter
sim_vehicle.py -v ArduCopter -f gazebo-iris --console --map
```

### Test Python Environment
```bash
cd ~/ros2_ws/src/uav_ugv_simulation
source activate_venv.sh
python -c "import cv2; import numpy; import rclpy; print('OK')"
```

## Running the Simulation

```bash
cd ~/ros2_ws/src/uav_ugv_simulation
source activate_venv.sh
bash scripts/run_simulation.sh
```

## NVIDIA GPU Setup (Optional)

For better Gazebo performance with NVIDIA GPU:

```bash
bash scripts/setup_gazebo_nvidia.sh
```

## Troubleshooting

### "Package not found" error
```bash
cd ~/ros2_ws
colcon build --packages-select uav_ugv_simulation
source install/setup.bash
```

### Gazebo crashes
- Check GPU drivers: `nvidia-smi`
- Try software rendering: `export LIBGL_ALWAYS_SOFTWARE=1`

### MAVROS connection failed
- Ensure ArduPilot SITL is running first
- Check port availability: `lsof -i :14550`