380 lines
13 KiB
Bash
Executable File
380 lines
13 KiB
Bash
Executable File
#!/bin/bash
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set -e
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RED='\033[0;31m'
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GREEN='\033[0;32m'
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YELLOW='\033[1;33m'
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BLUE='\033[0;34m'
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CYAN='\033[0;36m'
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NC='\033[0m'
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print_header() {
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echo ""
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echo -e "${BLUE}==========================================${NC}"
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echo -e "${BLUE} $1${NC}"
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echo -e "${BLUE}==========================================${NC}"
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echo ""
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}
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print_step() {
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echo -e "${GREEN}[$1/$TOTAL_STEPS] $2${NC}"
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}
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print_info() {
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echo -e "${CYAN}INFO: $1${NC}"
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}
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print_warning() {
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echo -e "${YELLOW}WARNING: $1${NC}"
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}
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print_error() {
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echo -e "${RED}ERROR: $1${NC}"
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}
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SCRIPT_DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" && pwd)"
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cd "$SCRIPT_DIR"
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if [ -n "$VIRTUAL_ENV" ]; then
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deactivate 2>/dev/null || true
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fi
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ARDUPILOT_HOME="$HOME/ardupilot"
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ARDUPILOT_GZ="$HOME/ardupilot_gazebo"
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detect_environment() {
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IS_WSL=false
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IS_WSL2=false
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if grep -qEi "(microsoft|wsl)" /proc/version 2>/dev/null; then
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IS_WSL=true
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if grep -qi "wsl2" /proc/version 2>/dev/null || [ -f /run/WSL ]; then
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IS_WSL2=true
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fi
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fi
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if [ -f /etc/os-release ]; then
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. /etc/os-release
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UBUNTU_VERSION="$VERSION_ID"
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UBUNTU_CODENAME="$VERSION_CODENAME"
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else
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UBUNTU_VERSION="22.04"
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UBUNTU_CODENAME="jammy"
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fi
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if [ "$UBUNTU_VERSION" = "24.04" ]; then
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ROS_DISTRO="jazzy"
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ROS_UBUNTU_CODENAME="noble"
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elif [ "$UBUNTU_VERSION" = "22.04" ]; then
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ROS_DISTRO="humble"
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ROS_UBUNTU_CODENAME="jammy"
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else
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UBUNTU_MAJOR=$(echo "$UBUNTU_VERSION" | cut -d. -f1)
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if [ "$UBUNTU_MAJOR" -ge 24 ] 2>/dev/null; then
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ROS_DISTRO="jazzy"
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ROS_UBUNTU_CODENAME="noble"
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else
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ROS_DISTRO="humble"
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ROS_UBUNTU_CODENAME="jammy"
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fi
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fi
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}
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INSTALL_ARDUPILOT=true
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for arg in "$@"; do
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if [ "$arg" = "--skip-ardupilot" ]; then
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INSTALL_ARDUPILOT=false
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fi
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done
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detect_environment
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print_header "UAV-UGV Simulation - Complete Setup"
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echo "GPS-Denied Navigation with Geofencing"
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echo ""
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echo -e "${CYAN}Detected Environment:${NC}"
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echo " Ubuntu: $UBUNTU_VERSION ($UBUNTU_CODENAME)"
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echo " WSL: $IS_WSL | WSL2: $IS_WSL2"
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echo " ROS 2 Target: $ROS_DISTRO"
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echo " ArduPilot: $INSTALL_ARDUPILOT"
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echo ""
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if [ "$INSTALL_ARDUPILOT" = true ]; then
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TOTAL_STEPS=10
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else
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TOTAL_STEPS=7
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fi
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STEP=1
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print_step $STEP "Installing system dependencies"
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sudo apt-get update
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sudo apt-get install -y \
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curl \
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gnupg \
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lsb-release \
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software-properties-common \
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wget \
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git \
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gitk \
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build-essential \
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cmake \
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python3-dev \
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python3-pip \
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python3-venv \
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python3-full \
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python3-pexpect \
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python3-opencv \
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python3-matplotlib \
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python3-lxml \
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python3-yaml \
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python3-scipy \
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python3-future \
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pipx \
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libopencv-dev \
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libxml2-dev \
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libxslt1-dev \
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libgstreamer1.0-dev \
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libgstreamer-plugins-base1.0-dev \
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gstreamer1.0-plugins-bad \
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gstreamer1.0-libav \
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gstreamer1.0-gl \
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ccache \
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gawk \
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libtool-bin \
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netcat-openbsd \
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ffmpeg \
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xdotool \
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x11-utils
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if $IS_WSL; then
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print_info "Installing WSL GUI support packages"
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sudo apt-get install -y \
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x11-apps \
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x11-xserver-utils \
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dbus-x11 \
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mesa-utils \
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libgl1-mesa-glx
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fi
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((STEP++))
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print_step $STEP "Installing ROS 2 $ROS_DISTRO"
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sudo curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key \
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-o /usr/share/keyrings/ros-archive-keyring.gpg
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echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] \
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http://packages.ros.org/ros2/ubuntu $ROS_UBUNTU_CODENAME main" | \
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sudo tee /etc/apt/sources.list.d/ros2.list > /dev/null
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sudo apt-get update
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sudo apt-get install -y \
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ros-${ROS_DISTRO}-ros-base \
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ros-${ROS_DISTRO}-geometry-msgs \
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ros-${ROS_DISTRO}-std-msgs \
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ros-${ROS_DISTRO}-nav-msgs \
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ros-${ROS_DISTRO}-sensor-msgs \
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python3-colcon-common-extensions || {
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print_error "Failed to install ROS 2 $ROS_DISTRO"
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exit 1
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}
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sudo apt-get install -y ros-${ROS_DISTRO}-ros-gz || \
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print_warning "Could not install ros-gz bridge"
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print_info "ROS 2 $ROS_DISTRO installed"
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((STEP++))
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print_step $STEP "Installing Gazebo"
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GZ_UBUNTU_CODENAME="$ROS_UBUNTU_CODENAME"
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sudo wget -q https://packages.osrfoundation.org/gazebo.gpg \
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-O /usr/share/keyrings/pkgs-osrf-archive-keyring.gpg 2>/dev/null || true
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echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/pkgs-osrf-archive-keyring.gpg] \
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http://packages.osrfoundation.org/gazebo/ubuntu-stable $GZ_UBUNTU_CODENAME main" | \
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sudo tee /etc/apt/sources.list.d/gazebo-stable.list > /dev/null
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sudo apt-get update
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GZ_VERSION=""
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if sudo apt-get install -y gz-harmonic 2>/dev/null; then
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GZ_VERSION="harmonic"
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sudo apt-get install -y \
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libgz-cmake3-dev \
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libgz-sim8-dev \
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libgz-plugin2-dev \
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libgz-common5-dev \
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libgz-physics7-dev \
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libgz-sensors8-dev \
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libgz-rendering8-dev \
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libgz-transport13-dev \
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libgz-msgs10-dev \
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rapidjson-dev \
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2>/dev/null || print_warning "Some Gazebo dev packages may be missing"
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sudo apt-get install -y \
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python3-gz-transport13 \
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python3-gz-msgs10 \
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2>/dev/null || print_warning "Gazebo Python bindings not available via apt"
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elif sudo apt-get install -y gz-garden 2>/dev/null; then
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GZ_VERSION="garden"
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sudo apt-get install -y \
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libgz-cmake3-dev \
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libgz-sim7-dev \
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libgz-plugin2-dev \
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libgz-common5-dev \
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libgz-physics6-dev \
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libgz-sensors7-dev \
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libgz-rendering7-dev \
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libgz-transport12-dev \
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libgz-msgs9-dev \
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rapidjson-dev \
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2>/dev/null || print_warning "Some Gazebo dev packages may be missing"
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sudo apt-get install -y \
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python3-gz-transport12 \
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python3-gz-msgs9 \
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2>/dev/null || print_warning "Gazebo Python bindings not available via apt"
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else
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print_warning "Could not install Gazebo Harmonic/Garden"
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GZ_VERSION="none"
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fi
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if command -v gz &> /dev/null; then
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print_info "Gazebo $GZ_VERSION installed"
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else
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print_warning "Gazebo command not found"
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fi
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((STEP++))
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print_step $STEP "Setting up Python environment"
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if [ -d "$SCRIPT_DIR/venv" ]; then
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rm -rf "$SCRIPT_DIR/venv"
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fi
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python3 -m venv --system-site-packages "$SCRIPT_DIR/venv"
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source "$SCRIPT_DIR/venv/bin/activate"
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pip install --upgrade pip
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if [ -f "$SCRIPT_DIR/requirements.txt" ]; then
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pip install -r "$SCRIPT_DIR/requirements.txt" || print_warning "Some Python packages failed"
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else
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pip install numpy opencv-python scipy shapely filterpy transforms3d pymavlink pexpect future
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fi
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deactivate
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((STEP++))
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print_step $STEP "Creating activation script"
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cat > "$SCRIPT_DIR/activate_venv.sh" << 'ACTIVATE_EOF'
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SCRIPT_DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" && pwd)"
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if [ -f "/opt/ros/jazzy/setup.bash" ]; then
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source /opt/ros/jazzy/setup.bash
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ROS_VER="jazzy"
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elif [ -f "/opt/ros/humble/setup.bash" ]; then
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source /opt/ros/humble/setup.bash
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ROS_VER="humble"
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else
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echo "[WARN] ROS 2 not found in /opt/ros/"
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ROS_VER="none"
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fi
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export ARDUPILOT_HOME="$HOME/ardupilot"
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export PATH="$ARDUPILOT_HOME/Tools/autotest:$PATH"
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export PATH="$HOME/.local/bin:$PATH"
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if [ -n "$VIRTUAL_ENV" ]; then
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deactivate 2>/dev/null || true
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fi
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if [ -f "$SCRIPT_DIR/venv/bin/activate" ]; then
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source "$SCRIPT_DIR/venv/bin/activate"
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fi
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export GZ_SIM_RESOURCE_PATH="$SCRIPT_DIR/models:$SCRIPT_DIR/worlds:${GZ_SIM_RESOURCE_PATH:-}"
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if [ -d "$HOME/ardupilot_gazebo/build" ]; then
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export GZ_SIM_SYSTEM_PLUGIN_PATH="$HOME/ardupilot_gazebo/build:${GZ_SIM_SYSTEM_PLUGIN_PATH:-}"
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export GZ_SIM_RESOURCE_PATH="$HOME/ardupilot_gazebo/models:$HOME/ardupilot_gazebo/worlds:$GZ_SIM_RESOURCE_PATH"
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fi
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if grep -qEi "(microsoft|wsl)" /proc/version 2>/dev/null; then
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if [ -d "/mnt/wslg" ]; then
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export DISPLAY=:0
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else
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export DISPLAY=$(cat /etc/resolv.conf 2>/dev/null | grep nameserver | awk '{print $2}'):0
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fi
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export LIBGL_ALWAYS_INDIRECT=0
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export MESA_GL_VERSION_OVERRIDE=3.3
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fi
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echo -e "\033[0;32mEnvironment activated (ROS 2 $ROS_VER)\033[0m"
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echo ""
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echo "Run simulation: bash scripts/run_autonomous.sh --search spiral"
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ACTIVATE_EOF
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chmod +x "$SCRIPT_DIR/activate_venv.sh"
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((STEP++))
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print_step $STEP "Configuring environment files"
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if $IS_WSL; then
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cat > "$SCRIPT_DIR/wsl_env.sh" << 'WSLEOF'
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if [ -d "/mnt/wslg" ]; then
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export DISPLAY=:0
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else
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export DISPLAY=$(cat /etc/resolv.conf 2>/dev/null | grep nameserver | awk '{print $2}'):0
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fi
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export LIBGL_ALWAYS_INDIRECT=0
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export MESA_GL_VERSION_OVERRIDE=3.3
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export MESA_GLSL_VERSION_OVERRIDE=330
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export OGRE_RTT_MODE=Copy
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WSLEOF
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chmod +x "$SCRIPT_DIR/wsl_env.sh"
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fi
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((STEP++))
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if [ "$INSTALL_ARDUPILOT" = true ]; then
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print_step $STEP "Setting up ArduPilot SITL"
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if [ ! -d "$ARDUPILOT_HOME" ]; then
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print_info "Cloning ArduPilot repository..."
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git clone --recurse-submodules https://github.com/ArduPilot/ardupilot.git "$ARDUPILOT_HOME"
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else
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print_info "ArduPilot directory already exists"
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fi
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cd "$ARDUPILOT_HOME"
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git submodule update --init --recursive
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print_info "Installing ArduPilot prerequisites (this may take a while)..."
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Tools/environment_install/install-prereqs-ubuntu.sh -y || true
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. ~/.profile 2>/dev/null || true
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[ -f "$HOME/.ardupilot_env" ] && source "$HOME/.ardupilot_env"
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print_info "ArduPilot prerequisites installed"
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((STEP++))
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print_step $STEP "Building ArduPilot SITL (this takes several minutes)"
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cd "$ARDUPILOT_HOME"
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./waf configure --board sitl
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./waf copter
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./waf rover
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print_info "ArduPilot SITL built"
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((STEP++))
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print_step $STEP "Building ArduPilot Gazebo plugin"
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if [ ! -d "$ARDUPILOT_GZ" ]; then
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print_info "Cloning ardupilot_gazebo repository..."
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git clone https://github.com/ArduPilot/ardupilot_gazebo.git "$ARDUPILOT_GZ"
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else
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print_info "ardupilot_gazebo directory already exists"
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cd "$ARDUPILOT_GZ"
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git pull origin main || true
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fi
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cd "$ARDUPILOT_GZ"
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mkdir -p build && cd build
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deactivate 2>/dev/null || true
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cmake .. -DCMAKE_BUILD_TYPE=Release
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make -j$(nproc)
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source "$SCRIPT_DIR/venv/bin/activate"
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print_info "ArduPilot Gazebo plugin built"
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print_info "Installing MAVProxy..."
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if pipx install MAVProxy --include-deps; then
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print_info "Injecting dependencies into MAVProxy venv..."
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pipx inject mavproxy future pexpect
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else
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pip3 install --user --break-system-packages pymavlink mavproxy 2>/dev/null || \
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pip3 install --user pymavlink mavproxy 2>/dev/null || \
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print_warning "MAVProxy installation failed - install manually"
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fi
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((STEP++))
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print_step $STEP "Verifying installation"
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export PATH=$PATH:$ARDUPILOT_HOME/Tools/autotest:$HOME/.local/bin
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echo ""
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command -v sim_vehicle.py &> /dev/null && echo "[OK] sim_vehicle.py" || echo "[WARN] sim_vehicle.py not found"
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command -v gz &> /dev/null && echo "[OK] Gazebo (gz)" || echo "[WARN] Gazebo not found"
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command -v mavproxy.py &> /dev/null && echo "[OK] MAVProxy" || echo "[WARN] MAVProxy not in PATH"
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[ -f "$ARDUPILOT_GZ/build/libArduPilotPlugin.so" ] && echo "[OK] ArduPilot Gazebo plugin" || echo "[WARN] Plugin not built"
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source "$SCRIPT_DIR/venv/bin/activate"
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python3 -c "from gz.transport13 import Node; print('[OK] gz.transport13 Python bindings')" 2>/dev/null || \
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echo "[WARN] gz.transport13 Python bindings not found"
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python3 -c "from gz.msgs10.image_pb2 import Image; print('[OK] gz.msgs10 Python bindings')" 2>/dev/null || \
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echo "[WARN] gz.msgs10 Python bindings not found"
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python3 -c "import pymavlink; print('[OK] pymavlink')" 2>/dev/null || \
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echo "[WARN] pymavlink not found in venv"
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python3 -c "import cv2; print(f'[OK] OpenCV {cv2.__version__}')" 2>/dev/null || \
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echo "[WARN] OpenCV not found in venv"
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deactivate
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((STEP++))
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fi
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chmod +x "$SCRIPT_DIR/scripts/"*.sh 2>/dev/null || true
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print_header "Installation Complete!"
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echo -e "${GREEN}Components installed:${NC}"
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echo " - ROS 2 $ROS_DISTRO"
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echo " - Gazebo $GZ_VERSION"
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if [ "$INSTALL_ARDUPILOT" = true ]; then
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echo " - ArduPilot SITL ($ARDUPILOT_HOME)"
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echo " - ardupilot_gazebo ($ARDUPILOT_GZ)"
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fi
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echo " - Python dependencies"
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echo ""
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if $IS_WSL; then
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echo -e "${YELLOW}WSL Notes:${NC}"
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echo " - GUI requires WSLg (Win11) or VcXsrv (Win10)"
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echo " - Use --software-render if graphics are slow"
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echo ""
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fi
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echo -e "${CYAN}To run the simulation:${NC}"
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echo ""
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echo " cd $SCRIPT_DIR"
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echo " source activate_venv.sh"
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echo " bash scripts/run_autonomous.sh --search spiral"
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echo ""
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echo -e "${GREEN}==========================================${NC}"
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