133 lines
3.1 KiB
Markdown
133 lines
3.1 KiB
Markdown
# Setup Guide
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## Prerequisites
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- Ubuntu 22.04 (Humble) or 24.04 (Jazzy)
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- 16GB RAM minimum
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- 50GB free disk space
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- Internet connection
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## Automatic Installation
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The `setup.sh` script installs everything automatically:
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```bash
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cd ~/sim/uav_ugv_simulation
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bash setup.sh
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```
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### What Gets Installed
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1. **ROS 2** (Humble or Jazzy based on Ubuntu version)
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2. **Gazebo Harmonic** (modern simulation)
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3. **ArduPilot SITL** (flight controller)
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4. **ardupilot_gazebo plugin** (ArduPilot-Gazebo bridge)
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5. **Python dependencies** (pymavlink, opencv, scipy, etc.)
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6. **MAVROS** (ROS 2 - MAVLink bridge)
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### Installation Time
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- First install: 20-40 minutes
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- ArduPilot build: ~15 minutes
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- Gazebo plugin build: ~5 minutes
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## Manual Installation
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### Step 1: Install ROS 2
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```bash
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# Ubuntu 22.04
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sudo apt install software-properties-common
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sudo add-apt-repository universe
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sudo apt update && sudo apt install curl -y
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sudo curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -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] http://packages.ros.org/ros2/ubuntu $(. /etc/os-release && echo $UBUNTU_CODENAME) main" | sudo tee /etc/apt/sources.list.d/ros2.list > /dev/null
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sudo apt update
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sudo apt install ros-humble-desktop
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```
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### Step 2: Install Gazebo Harmonic
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```bash
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sudo apt install -y wget
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sudo wget https://packages.osrfoundation.org/gazebo.gpg -O /usr/share/keyrings/pkgs-osrf-archive-keyring.gpg
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echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/pkgs-osrf-archive-keyring.gpg] http://packages.osrfoundation.org/gazebo/ubuntu-stable $(lsb_release -cs) main" | sudo tee /etc/apt/sources.list.d/gazebo-stable.list
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sudo apt update
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sudo apt install gz-harmonic
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```
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### Step 3: Install ArduPilot
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```bash
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cd ~
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git clone --recurse-submodules https://github.com/ArduPilot/ardupilot.git
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cd ardupilot
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Tools/environment_install/install-prereqs-ubuntu.sh -y
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. ~/.profile
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./waf configure --board sitl
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./waf copter
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```
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### Step 4: Install ardupilot_gazebo Plugin
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```bash
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cd ~
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git clone https://github.com/ArduPilot/ardupilot_gazebo.git
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cd ardupilot_gazebo
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mkdir build && cd build
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cmake .. -DCMAKE_BUILD_TYPE=RelWithDebInfo
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make -j4
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```
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### Step 5: Install Python Dependencies
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```bash
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cd ~/sim/uav_ugv_simulation
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python3 -m venv venv
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source venv/bin/activate
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pip install -r requirements.txt
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```
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## Environment Setup
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After installation, source the environment:
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```bash
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source ~/sim/uav_ugv_simulation/activate_venv.sh
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```
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This sets up:
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- Python virtual environment
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- Gazebo resource paths
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- ArduPilot paths
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## Verify Installation
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```bash
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# Check Gazebo
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gz sim --version
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# Check ArduPilot
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sim_vehicle.py --help
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# Check Python deps
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python3 -c "import pymavlink; print('pymavlink OK')"
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python3 -c "import cv2; print('opencv OK')"
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```
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## Uninstall
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```bash
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# Remove ArduPilot and plugin only
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bash scripts/uninstall.sh
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# Remove everything including venv
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bash scripts/uninstall.sh --all
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```
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## Next Steps
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1. Run a test simulation: `bash scripts/run_autonomous.sh --mission hover`
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2. Read the [Usage Guide](usage.md)
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3. Check [Troubleshooting](troubleshooting.md) if issues arise
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