57 lines
1.7 KiB
Bash
Executable File
57 lines
1.7 KiB
Bash
Executable File
#!/bin/bash
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# UAV-UGV Simulation - Environment Activation
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# Usage: source activate_venv.sh
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SCRIPT_DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" && pwd)"
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# ROS 2 Setup
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if [ -f "/opt/ros/jazzy/setup.bash" ]; then
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source /opt/ros/jazzy/setup.bash
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ROS_VER="jazzy"
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elif [ -f "/opt/ros/humble/setup.bash" ]; then
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source /opt/ros/humble/setup.bash
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ROS_VER="humble"
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else
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echo "[WARN] ROS 2 not found in /opt/ros/"
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ROS_VER="none"
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fi
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# ArduPilot Environment
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export ARDUPILOT_HOME="$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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# Deactivate existing venv
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if [ -n "$VIRTUAL_ENV" ]; then
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deactivate 2>/dev/null || true
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fi
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# Activate project venv
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if [ -f "$SCRIPT_DIR/venv/bin/activate" ]; then
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source "$SCRIPT_DIR/venv/bin/activate"
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fi
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# Gazebo paths (new Gazebo - Ignition/Harmonic)
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export GZ_SIM_RESOURCE_PATH="$SCRIPT_DIR/models:$SCRIPT_DIR/worlds:${GZ_SIM_RESOURCE_PATH:-}"
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# ArduPilot Gazebo plugin
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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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# WSL environment
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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_simulation.sh"
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