# WSL Setup Guide

## Overview

This guide covers running the UAV-UGV simulation on Windows Subsystem for Linux (WSL2).

## Requirements

- Windows 10 (21H2+) or Windows 11
- WSL2 with Ubuntu 22.04
- 16GB RAM minimum
- Optional: NVIDIA GPU with WSL drivers

## WSL2 Installation

### 1. Enable WSL2

Open PowerShell as Administrator:

```powershell
wsl --install
```

### 2. Install Ubuntu

```powershell
wsl --install -d Ubuntu-22.04
```

### 3. Set WSL2 as Default

```powershell
wsl --set-default-version 2
```

## Graphics Setup

### Option A: WSLg (Windows 11 - Recommended)

WSLg is built into Windows 11 and works automatically.

Verify:
```bash
echo $DISPLAY
# Should show something like :0
```

### Option B: VcXsrv (Windows 10)

1. Download VcXsrv: https://sourceforge.net/projects/vcxsrv/
2. Launch with "Disable access control" checked
3. In WSL:

```bash
export DISPLAY=$(grep nameserver /etc/resolv.conf | awk '{print $2}'):0
echo "export DISPLAY=$(grep nameserver /etc/resolv.conf | awk '{print $2}'):0" >> ~/.bashrc
```

## GPU Support

### NVIDIA GPU (Optional)

1. Install NVIDIA drivers for WSL: https://developer.nvidia.com/cuda/wsl
2. Verify in WSL:

```bash
nvidia-smi
```

If working, you can use hardware acceleration.

### Software Rendering (No GPU)

Most reliable for WSL:

```bash
export LIBGL_ALWAYS_SOFTWARE=1
export GALLIUM_DRIVER=llvmpipe
```

## Installation

Same as native Ubuntu:

```bash
cd ~/sim/uav_ugv_simulation
bash setup.sh
```

## Running Simulation

**Always use software rendering on WSL:**

```bash
source activate_venv.sh
bash scripts/run_autonomous.sh --software-render --search spiral
```

## Performance Tips

### 1. Allocate More Memory

Create/edit `%USERPROFILE%\.wslconfig`:

```ini
[wsl2]
memory=12GB
processors=4
swap=8GB
```

Restart WSL:
```powershell
wsl --shutdown
```

### 2. Use Fast Storage

Run simulation from Windows filesystem only if needed:
```bash
# Faster (Linux filesystem)
cd ~/sim/uav_ugv_simulation

# Slower (Windows filesystem)
cd /mnt/c/Projects/simulation
```

### 3. Disable Unnecessary Visuals

In software rendering mode, Gazebo is slower. Consider:
- Running headless: `--headless` flag
- Reducing physics rate
- Simpler world files

## Troubleshooting

### "cannot open display"

```bash
# For WSLg
export DISPLAY=:0

# For VcXsrv
export DISPLAY=$(grep nameserver /etc/resolv.conf | awk '{print $2}'):0
```

### Graphics freeze/crash

```bash
# Always use software rendering
export LIBGL_ALWAYS_SOFTWARE=1
export GALLIUM_DRIVER=llvmpipe
bash scripts/run_autonomous.sh --software-render
```

### Slow performance

- Increase WSL memory (see Performance Tips)
- Use software rendering
- Close other applications

### Network issues

```bash
# If MAVLink connection fails
# Check Windows firewall allows WSL traffic
```

## Quick Start Commands

```bash
# 1. Open Ubuntu terminal

# 2. Navigate to project
cd ~/sim/uav_ugv_simulation

# 3. Activate environment
source activate_venv.sh

# 4. Run with software rendering
bash scripts/run_autonomous.sh --software-render --search spiral
```

## Related

- [Setup Guide](setup_guide.md)
- [Troubleshooting](troubleshooting.md)