Update feat/ branch

README.md

@@ -322,7 +322,7 @@ Once done, detach Tmux (and remove the containers) with `Ctrl + b`, then `d`
 - The simulation (SITL or HITL) container must start after the aircraft ones for Gstreamer to pick up the UDP streams
 - wmctrl does not work as-is in WSLg
 - QGC is started with a virtual joystick (with low throttle if using only VTOLs and centered throttle if there are quads), this is reflective of real-life but note that this counts as "RC loss" when switching focus from one autopilot instance to another
-- ArduPilot CIRCLE mode for quads require to explicitly center the virtual throttle with 'rc 3 1500' to keep altitude, QGC virtual joystick can interfere
+- ArduPilot CIRCLE mode for quads require to explicitly center the throttle with 'rc 3 1500' to keep altitude, QGC virtual joystick can interfere
 - Gazebo WindEffects plugin is disabled/not working for PX4 standard_vtol
 - Command 178 MAV_CMD_DO_CHANGE_SPEED is accepted but not effective in changing speed for ArduPilot VTOL
 - ArduPilot SITL for Iris uses option -f that also sets "external": True, this is not the case for the Alti Transition from ArduPilot/SITL_Models 

aircraft/aircraft.yml.erb

@@ -44,7 +44,7 @@ windows:
         - >
           <% if simulated_time == 'true' %>
           sudo sed -i '0,/ros__parameters:/s/ros__parameters:/ros__parameters:\n    use_sim_time: true/' /opt/ros/humble/share/mavros/launch/apm_config.yaml && 
-          ros2 launch mavros apm.launch fcu_url:=udp://0.0.0.0:<%= 22530 + drone_id - 1 %>@<%= 22530 + drone_id - 1 %> tgt_system:=<%= drone_id %>
+          ros2 launch mavros apm.launch fcu_url:=udp://<%= subnet_prefix %>.1.<%= drone_id %>:8888@8888 tgt_system:=<%= drone_id %>
           <% else %>
           python3 /aas/aircraft_resources/patches/request_mavlink_streams.py --device '/dev/ttyTHS1' --baudrate 921600 --target-system <%= drone_id %> --target-component 1 --rate 4 &&
           ros2 launch mavros apm.launch fcu_url:=/dev/ttyTHS1:921600 tgt_system:=<%= drone_id %>
@@ -78,4 +78,4 @@ windows:
       layout: tiled
       panes:
         - mkdir -p /aas/rosbags && cd /aas/rosbags && ros2 bag record -a
-  <% end %>
+  <% end %>

scripts/sim_run.sh

@@ -126,9 +126,6 @@ XTERM_CONFIG_ARGS=(
     Ctrl Shift <Key>V: insert-selection(CLIPBOARD)'
 )
 
-# Initialize a counter for the drone IDs
-DRONE_ID=0 # 0: simulation, 1-N: drones
-
 # Launch the simulation container
 DOCKER_CMD="docker run -it --rm \
   --volume /tmp/.X11-unix:/tmp/.X11-unix:rw --device /dev/dri --gpus all \
@@ -151,18 +148,19 @@ if [[ "$DESK_ENV" == "wsl" ]]; then
   DOCKER_CMD="$DOCKER_CMD $WSL_OPTS"
 fi
 DOCKER_CMD="$DOCKER_CMD ${MODE_SIM_OPTS} simulation-image"
-calculate_terminal_position $DRONE_ID
+calculate_terminal_position 0
 xterm "${XTERM_CONFIG_ARGS[@]}" -title "Simulation" -fa Monospace -fs $FONT_SIZE -bg black -fg white -geometry "${TERM_COLS}x${TERM_ROWS}+${X_POS}+${Y_POS}" -hold -e bash -c "$DOCKER_CMD" &
 
 if [[ "$HITL" == "false" ]]; then
+  # Initialize a counter for the drone IDs
+  DRONE_ID=1 # 1, 2, .., N drones
+
   # Function to launch the aircraft containers
   launch_aircraft_containers() {
     local drone_type=$1
     local num_drones=$2
-    local type_label=$3
 
     for i in $(seq 1 $num_drones); do
-      DRONE_ID=$((DRONE_ID + 1))
       sleep 1.5 # Limit resource usage
       DOCKER_CMD="docker run -it --rm \
         --volume /tmp/.X11-unix:/tmp/.X11-unix:rw --device /dev/dri --gpus all \
@@ -181,13 +179,14 @@ if [[ "$HITL" == "false" ]]; then
       fi
       DOCKER_CMD="$DOCKER_CMD ${MODE_AIR_OPTS} aircraft-image"
       calculate_terminal_position $DRONE_ID
-      xterm "${XTERM_CONFIG_ARGS[@]}" -title "$type_label $DRONE_ID" -fa Monospace -fs $FONT_SIZE -bg black -fg white -geometry "${TERM_COLS}x${TERM_ROWS}+${X_POS}+${Y_POS}" -hold -e bash -c "$DOCKER_CMD" &
+      xterm "${XTERM_CONFIG_ARGS[@]}" -title "${drone_type^^} $DRONE_ID" -fa Monospace -fs $FONT_SIZE -bg black -fg white -geometry "${TERM_COLS}x${TERM_ROWS}+${X_POS}+${Y_POS}" -hold -e bash -c "$DOCKER_CMD" &
+      DRONE_ID=$((DRONE_ID + 1))
     done
   }
   # Launch the Quad containers
-  launch_aircraft_containers "quad" $NUM_QUADS "Quad"
+  launch_aircraft_containers "quad" $NUM_QUADS
   # Launch the VTOL containers
-  launch_aircraft_containers "vtol" $NUM_VTOLS "VTOL"
+  launch_aircraft_containers "vtol" $NUM_VTOLS
 fi
 
 echo "Fly, my pretties, fly!"

simulation/simulation.yml.erb

@@ -18,7 +18,6 @@ windows:
       panes:
         - clear && echo "So nice to have you with us, this is the simulation container."
 
-  <% if autopilot == 'px4' %>
   - gz_sim:
       layout: main-vertical
       panes:
@@ -29,37 +28,21 @@ windows:
           <% if lidar == 'false' %>
           sed -i '/<sensor/,/<\/sensor>/d'  /aas/simulation_resources/aircraft_models/sensor_lidar/model.sdf &&
           <% end %>
-          GZ_SIM_RESOURCE_PATH=$GZ_SIM_RESOURCE_PATH:/aas/simulation_resources/aircraft_models:/aas/simulation_resources/simulation_worlds 
-          GZ_SIM_PHYSICS_ENGINE_PATH=$GZ_SIM_PHYSICS_ENGINE_PATH:/usr/lib/x86_64-linux-gnu/gz-physics-7/engine-plugins/
-          gz sim -v4 -r <% if headless == 'true' %> -s <% end %> <%= world %>.sdf
-  <% elsif autopilot == 'ardupilot' %>
-  - gz_sim:
-      layout: main-vertical
-      panes:
-        - > 
-          <% if camera == 'false' %>
-          sed -i '/<sensor/,/<\/sensor>/d' /aas/simulation_resources/aircraft_models/sensor_camera/model.sdf &&
-          <% end %>
-          <% if lidar == 'false' %>
-          sed -i '/<sensor/,/<\/sensor>/d'  /aas/simulation_resources/aircraft_models/sensor_lidar/model.sdf &&
-          <% end %>
+          <% if autopilot == 'ardupilot' %>
           /aas/simulation_resources/aircraft_models/_create_ardupilot_models.sh <%= num_quads %> <%= num_vtols %>  &&
           /aas/simulation_resources/simulation_worlds/_create_ardupilot_world.sh <%= num_quads %> <%= num_vtols %> /aas/simulation_resources/simulation_worlds/<%= world %>.sdf &&
           GZ_SIM_SYSTEM_PLUGIN_PATH=/aas/github_apps/ardupilot_gazebo/build:$GZ_SIM_SYSTEM_PLUGIN_PATH 
-          GZ_SIM_RESOURCE_PATH=/aas/simulation_resources/aircraft_models:/aas/simulation_resources/simulation_worlds:$GZ_SIM_RESOURCE_PATH 
+          <% end %>
+          GZ_SIM_RESOURCE_PATH=$GZ_SIM_RESOURCE_PATH:/aas/simulation_resources/aircraft_models:/aas/simulation_resources/simulation_worlds 
           GZ_SIM_PHYSICS_ENGINE_PATH=$GZ_SIM_PHYSICS_ENGINE_PATH:/usr/lib/x86_64-linux-gnu/gz-physics-7/engine-plugins/
-          gz sim -v4 -r <% if headless == 'true' %> -s <% end %> populated_ardupilot.sdf
-  <% end %>
+          gz sim -v4 -r <% if headless == 'true' %> -s <% end %> <% if autopilot == 'px4' %> <%= world %>.sdf <% elsif autopilot == 'ardupilot' %> populated_ardupilot.sdf <% end %>
         - >
           (
             PRIMARY_RES=$(xrandr | grep -oE '[0-9]+x[0-9]+' | head -1)
-            SCREEN_W=$(echo $PRIMARY_RES | cut -d'x' -f1)
-            SCREEN_H=$(echo $PRIMARY_RES | cut -d'x' -f2)
+            SCREEN_W=$(echo $PRIMARY_RES | cut -d'x' -f1); SCREEN_H=$(echo $PRIMARY_RES | cut -d'x' -f2)
             SCREEN_SCALE=$((SCREEN_H * 100 / 1080)) # Full HD = 100%
-            WIN_W=$(( 800 * SCREEN_SCALE / 100 ))
-            WIN_H=$(( 600 * SCREEN_SCALE / 100 ))
-            POS_X=$((SCREEN_W - WIN_W))
-            POS_Y=$(( 0 ))
+            WIN_W=$(( 800 * SCREEN_SCALE / 100 )); WIN_H=$(( 600 * SCREEN_SCALE / 100 ))
+            POS_X=$((SCREEN_W - WIN_W)); POS_Y=$(( 0 ))
             for i in {1..10}; do 
               sleep 2
               if wmctrl -l | grep -q "Gazebo Sim"; then
@@ -68,90 +51,72 @@ windows:
             done
           )
 
-<% 
-  drones = []
-  num_quads.times { |i| drones << { type: 'quad', index: i } }
-  num_vtols.times { |i| drones << { type: 'vtol', index: i } }
-%>
-
-<% drones.each_with_index do |drone, drone_id| %>
-<% 
-  is_quad = drone[:type] == 'quad'
-  i = drone[:index]
-
-  if autopilot == 'px4'
-    autostart = is_quad ? 5140 : 5141
-    model_name = is_quad ? "x500_#{drone_id}" : "standard_vtol_#{drone_id}"
-    y_offset = is_quad ? i * 2 : 2 + i * 2
-  elsif autopilot == 'ardupilot'
-    vehicle_config = is_quad ? '-v ArduCopter -f gazebo-iris' : '-v ArduPlane'
-    model_name = is_quad ? "iris_with_ardupilot_#{drone_id + 1}" : "alti_transition_quad_#{drone_id + 1}"
-    sensor_path = is_quad ? 'model/iris/' : ''
-  end
-%>
-<% if autopilot == 'px4' %>
-  - px4_sitl_<%= drone_id + 1 %>:
+  <% 
+    drones = []
+    num_quads.times { |i| drones << { type: 'quad', index: i } }
+    num_vtols.times { |i| drones << { type: 'vtol', index: i } }
+  %>
+  <% drones.each_with_index do |drone, sitl_instance| %>
+  <% 
+    drone_id = sitl_instance + 1
+    is_quad = drone[:type] == 'quad'
+    if autopilot == 'px4'
+      autostart = is_quad ? 5140 : 5141
+      model_name = is_quad ? "x500_#{sitl_instance}" : "standard_vtol_#{sitl_instance}"
+      x_offset = drone[:index] * 2
+      y_offset = is_quad ? x_offset : x_offset + 2
+      sensor_path = ''
+    elsif autopilot == 'ardupilot'
+      vehicle_config = is_quad ? '-v ArduCopter -f gazebo-iris' : '-v ArduPlane'
+      model_name = is_quad ? "iris_with_ardupilot_#{drone_id}" : "alti_transition_quad_#{drone_id}"
+      sensor_path = is_quad ? 'model/iris/' : ''
+    end
+  %>
+  <% if autopilot == 'px4' %>
+  - px4_sitl_<%= drone_id %>:
       layout: main-horizontal
       panes:
         - >
-          sleep <%= (drone_id + 1) * 3 %> &&
-          PX4_GZ_MODEL_POSE="<%= i * 2 %>,<%= y_offset %>,0.5,0,0,0"
-          PX4_SYS_AUTOSTART=<%= autostart %>
-          ROS_DOMAIN_ID=<%= drone_id + 1 %>
-          PX4_UXRCE_DDS_NS="Drone<%= drone_id + 1 %>"
-          PX4_UXRCE_DDS_AG_IP="<%= subnet_prefix %>.1.<%= drone_id + 1 %>"
-          PX4_UXRCE_DDS_PORT=8888
-          /aas/github_apps/PX4-Autopilot/build/px4_sitl_default/bin/px4 -i <%= drone_id %>
-        - "ROS_DOMAIN_ID=<%= drone_id + 1 %> ros2 run ros_gz_bridge parameter_bridge /clock@rosgraph_msgs/msg/Clock[gz.msgs.Clock"
-        <% if lidar == 'true' %>
-        - "ROS_DOMAIN_ID=<%= drone_id + 1 %> ros2 run ros_gz_bridge parameter_bridge /world/<%= world %>/model/<%= model_name %>/model/simple_lidar/link/lidar/base_link/sensor/lidar3d/scan/points@sensor_msgs/msg/PointCloud2[gz.msgs.PointCloudPacked --ros-args -r /world/<%= world %>/model/<%= model_name %>/model/simple_lidar/link/lidar/base_link/sensor/lidar3d/scan/points:=/lidar_points"
-        <% end %>
-        <% if camera == 'true' %>
-        - >
-          python3 /aas/simulation_resources/comms/gz_to_gst_image_bridge.py 
-          --gz_topic /world/<%= world %>/model/<%= model_name %>/model/simple_camera/link/mono_cam/base_link/sensor/imager/image
-          --ip <%= subnet_prefix %>.1.<%= drone_id + 1 %> --port 5600
-        <% end %>
-<% elsif autopilot == 'ardupilot' %>
-  - ardupilot_sitl_<%= drone_id + 1 %>:
+          sleep <%= drone_id * 3 %> &&
+          PX4_GZ_MODEL_POSE="<%= x_offset %>,<%= y_offset %>,0.5,0,0,0"
+          PX4_SYS_AUTOSTART=<%= autostart %> ROS_DOMAIN_ID=<%= drone_id %>
+          PX4_UXRCE_DDS_NS="Drone<%= drone_id %>" PX4_UXRCE_DDS_AG_IP="<%= subnet_prefix %>.1.<%= drone_id %>" PX4_UXRCE_DDS_PORT=8888
+          /aas/github_apps/PX4-Autopilot/build/px4_sitl_default/bin/px4 -i <%= sitl_instance %>
+  <% elsif autopilot == 'ardupilot' %>
+  - ardupilot_sitl_<%= drone_id %>:
       layout: main-horizontal
       panes:
         - >
-          sleep <%= (drone_id + 1) * 3 %> &&
-          mkdir -p /aas/ardu_sitl_<%= drone_id + 1 %> && cd /aas/ardu_sitl_<%= drone_id + 1 %> &&
+          sleep <%= drone_id * 5 %> && mkdir -p /aas/ardu_sitl_<%= drone_id %> && cd /aas/ardu_sitl_<%= drone_id %> &&
           /aas/github_apps/ardupilot/Tools/autotest/sim_vehicle.py 
-          <%= vehicle_config %>
-          --model JSON
-          -I <%= drone_id %>
-          --sysid <%= drone_id + 1 %>
-          -l $(awk -F "[><]" "/<spherical_coordinates>/,/<\/spherical_coordinates>/" /aas/simulation_resources/simulation_worlds/<%= world %>.sdf | awk -F "[><]" "/latitude_deg/ {print \$3}"),$(awk -F "[><]" "/<spherical_coordinates>/,/<\/spherical_coordinates>/" /aas/simulation_resources/simulation_worlds/<%= world %>.sdf | awk -F "[><]" "/longitude_deg/ {print \$3}"),$(awk -F "[><]" "/<spherical_coordinates>/,/<\/spherical_coordinates>/" /aas/simulation_resources/simulation_worlds/<%= world %>.sdf | awk -F "[><]" "/elevation/ {print \$3}"),0          
-          --out=udp:127.0.0.1:<%= 21550 + drone_id %>
-          --out=udp:<%= subnet_prefix %>.1.<%= drone_id + 1 %>:<%= 22530 + drone_id %>
+          <%= vehicle_config %> --model JSON
+          -I <%= sitl_instance %> --sysid <%= drone_id %>
           --add-param-file=/aas/simulation_resources/aircraft_models/<%= model_name %>/ardupilot-4.6.params
-        - "ROS_DOMAIN_ID=<%= drone_id + 1 %> ros2 run ros_gz_bridge parameter_bridge /clock@rosgraph_msgs/msg/Clock[gz.msgs.Clock"
-        - mavproxy.py --state-basedir=/aas/ardu_sitl_<%= drone_id + 1 %>/mavproxy --master=udp:127.0.0.1:<%= 21550 + drone_id %> --out=udp:127.0.0.1:<%= 14550 + drone_id %> --out=udp:127.0.0.1:<%= 14540 + drone_id %>
+          -l $(awk -F "[><]" "/<spherical_coordinates>/,/<\/spherical_coordinates>/" /aas/simulation_resources/simulation_worlds/<%= world %>.sdf | awk -F "[><]" "/latitude_deg/ {print \$3}"),$(awk -F "[><]" "/<spherical_coordinates>/,/<\/spherical_coordinates>/" /aas/simulation_resources/simulation_worlds/<%= world %>.sdf | awk -F "[><]" "/longitude_deg/ {print \$3}"),$(awk -F "[><]" "/<spherical_coordinates>/,/<\/spherical_coordinates>/" /aas/simulation_resources/simulation_worlds/<%= world %>.sdf | awk -F "[><]" "/elevation/ {print \$3}"),0          
+          --out=udp:<%= subnet_prefix %>.1.<%= drone_id %>:8888
+          --out=udp:127.0.0.1:<%= 14540 + sitl_instance %> --out=udp:127.0.0.1:<%= 14550 + sitl_instance %>
+        <% if is_quad %>
+        - sleep <%= drone_id * 5 + 35 %> && tmux send-keys -t 'sim:ardupilot_sitl_<%= drone_id %>.0' 'rc 3 1500' C-m
+        <% end %>
+  <% end %>
+        - "ROS_DOMAIN_ID=<%= drone_id %> ros2 run ros_gz_bridge parameter_bridge /clock@rosgraph_msgs/msg/Clock[gz.msgs.Clock"
         <% if lidar == 'true' %>
-        - "ROS_DOMAIN_ID=<%= drone_id + 1 %> ros2 run ros_gz_bridge parameter_bridge /world/<%= world %>/model/<%= model_name %>/<%= sensor_path %>model/simple_lidar/link/lidar/base_link/sensor/lidar3d/scan/points@sensor_msgs/msg/PointCloud2[gz.msgs.PointCloudPacked --ros-args -r /world/<%= world %>/model/<%= model_name %>/<%= sensor_path %>model/simple_lidar/link/lidar/base_link/sensor/lidar3d/scan/points:=/lidar_points"
+        - "ROS_DOMAIN_ID=<%= drone_id %> ros2 run ros_gz_bridge parameter_bridge /world/<%= world %>/model/<%= model_name %>/<%= sensor_path %>model/simple_lidar/link/lidar/base_link/sensor/lidar3d/scan/points@sensor_msgs/msg/PointCloud2[gz.msgs.PointCloudPacked --ros-args -r /world/<%= world %>/model/<%= model_name %>/<%= sensor_path %>model/simple_lidar/link/lidar/base_link/sensor/lidar3d/scan/points:=/lidar_points"
         <% end %>
         <% if camera == 'true' %>
         - >
+          sleep <%= drone_id * 3 %> && 
           python3 /aas/simulation_resources/comms/gz_to_gst_image_bridge.py 
           --gz_topic /world/<%= world %>/model/<%= model_name %>/<%= sensor_path %>model/simple_camera/link/mono_cam/base_link/sensor/imager/image
-          --ip <%= subnet_prefix %>.1.<%= drone_id + 1 %> --port 5600
+          --ip <%= subnet_prefix %>.1.<%= drone_id %> --port 5600
         <% end %>
-        <% if is_quad %>
-        - >
-          sleep <%= (drone_id + 1) * 3 + 35 %> &&
-          tmux send-keys -t 'sim:ardupilot_sitl_<%= drone_id + 1 %>.0' 'rc 3 1500' C-m
-        <% end %>
-<% end %>
-<% end %>
+  <% end %>
 
   - ground_system_over_zenoh:
       layout: even-vertical
       panes:
         - "ros2 run ros_gz_bridge parameter_bridge /clock@rosgraph_msgs/msg/Clock[gz.msgs.Clock"
-        - sleep 3 && ros2 run ground_system oracle --num-drones <%=  num_quads + num_vtols %> --base-port 14540 --rate 1.0 <% if simulated_time == 'true' %> --ros-args -p use_sim_time:=True<% end %>
+        - ros2 run ground_system oracle --num-drones <%=  num_quads + num_vtols %> --ip 127.0.0.1 --base-port 14540 --rate 1.0 <% if simulated_time == 'true' %> --ros-args -p use_sim_time:=True<% end %>
         - zenoh-bridge-ros2dds -c /aas/simulation_resources/comms/zenoh_config_ground.json5
 
   - qgc:
@@ -167,13 +132,10 @@ windows:
           gosu qgcuser /squashfs-root/AppRun &
           (
             PRIMARY_RES=$(xrandr | grep -oE '[0-9]+x[0-9]+' | head -1)
-            SCREEN_W=$(echo $PRIMARY_RES | cut -d'x' -f1)
-            SCREEN_H=$(echo $PRIMARY_RES | cut -d'x' -f2)
+            SCREEN_W=$(echo $PRIMARY_RES | cut -d'x' -f1); SCREEN_H=$(echo $PRIMARY_RES | cut -d'x' -f2)
             SCREEN_SCALE=$((SCREEN_H * 100 / 1080)) # Full HD = 100%
-            WIN_W=$(( 800 * SCREEN_SCALE / 100 ))
-            WIN_H=$(( 600 * SCREEN_SCALE / 100 ))
-            POS_X=$((SCREEN_W - WIN_W))
-            POS_Y=$((WIN_H))
+            WIN_W=$(( 800 * SCREEN_SCALE / 100 )); WIN_H=$(( 600 * SCREEN_SCALE / 100 ))
+            POS_X=$((SCREEN_W - WIN_W)); POS_Y=$((WIN_H))
             for i in {1..10}; do 
               sleep 2
               if wmctrl -l | grep -q "QGroundControl"; then

simulation/simulation_ws/src/ground_system/ground_system/oracle.py

@@ -10,7 +10,7 @@
 from ground_system_msgs.msg import SwarmObs, DroneObs
 
 class OracleNode(Node):
-    def __init__(self, num_drones, base_port, publish_rate):
+    def __init__(self, num_drones, ip, base_port, publish_rate):
         super().__init__('oracle')
 
         self.drone_obs = {}  # Thread-safe storage for latest data
@@ -20,7 +20,7 @@ def __init__(self, num_drones, base_port, publish_rate):
         for i in range(num_drones):
             drone_id = i + 1
             port = base_port + i
-            connection_string = f"udp:127.0.0.1:{port}"
+            connection_string = f"udp:{ip}:{port}"
             thread = threading.Thread(target=self.mavlink_listener, args=(drone_id, connection_string))
             thread.daemon = True
             thread.start()
@@ -91,6 +91,7 @@ def add_noise(self, value, std_dev):
 def main(args=None):
     parser = argparse.ArgumentParser(description='Oracle Node')
     parser.add_argument('--num-drones', type=int, required=True, help='Number of drones to listen for.')
+    parser.add_argument('--ip', type=str, default='127.0.0.1', help='IP address to listen on.')
     parser.add_argument('--base-port', type=int, default=14540, help='Base UDP port to start listening from.')
     parser.add_argument('--rate', type=float, default=10.0, help='Publishing rate in Hz.')
 
@@ -100,6 +101,7 @@ def main(args=None):
 
     node = OracleNode(
         num_drones=cli_args.num_drones,
+        ip=cli_args.ip,
         base_port=cli_args.base_port,
         publish_rate=cli_args.rate
     )

supplementary/REQUIREMENTS_WSL.md

@@ -57,7 +57,7 @@ From PowerShell
 wsl ~
 
 sudo apt update && sudo apt install -y mesa-utils
-nvidia-smi                          # From WSL, check NVIDIA driver (these instructions are tested on Driver Version: 581.15, CUDA Version:13.0)
+nvidia-smi                          # From WSL, check NVIDIA driver (these instructions are tested on Driver Version: 581.42, CUDA Version:13.0)
 glxinfo -B                          # Check the GPU is the OpenGL renderer
 ```
 

supplementary/SETUP_AVIONICS.md

@@ -53,7 +53,7 @@ sudo /opt/nvidia/jetson-io/jetson-io.py
 
 sudo dmesg | grep -i imx219         # After reboot, this will show at least one imx219 successfully bound
 
-# Inspect camera resolution and frame rate
+# Inspect device (e.g. /dev/video0) resolution and frame rate
 sudo apt update && sudo apt install -y v4l-utils
 v4l2-ctl --list-formats-ext -d /dev/video0 
 ```