kinda working

aerpaw/run_uav.sh

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+#!/bin/bash
+# run_uav.sh - Auto-detecting wrapper for UAV runner
+# Detects testbed vs local environment and launches with appropriate connection
+#
+# Usage:
+#   ./run_uav.sh           # Auto-detect and run
+#   ./run_uav.sh testbed   # Force testbed mode
+#   ./run_uav.sh local     # Force local mode
+
+set -e
+
+# Change to script directory
+cd "$(dirname "$0")"
+
+# Activate venv if it exists
+if [ -d "venv" ]; then
+    source venv/bin/activate
+fi
+
+# Connection strings
+# AERPAW testbed: E-VM LISTENS on port 14550, MAVLink Filter connects TO us
+# See: https://sites.google.com/ncsu.edu/aerpaw-user-manual/6-sample-experiments-repository/6-2-vehicle-control-software/vcs1-preplanned-trajectory
+# "the IP address corresponds to the E-VM IP address and the port is where
+# the MAVLink filter expects to find the vehicle control script"
+TESTBED_CONN="udp:0.0.0.0:14550"
+LOCAL_CONN="udp:127.0.0.1:14550"
+
+# Function to check if we're in testbed environment
+check_testbed() {
+    # Check if we're on the AERPAW testbed network (192.168.122.X)
+    ip addr | grep -q "192.168.122"
+    return $?
+}
+
+# Determine connection based on argument or auto-detection
+if [ "$1" = "testbed" ]; then
+    CONN="$TESTBED_CONN"
+    echo "[run_uav] Forced testbed mode: $CONN"
+elif [ "$1" = "local" ]; then
+    CONN="$LOCAL_CONN"
+    echo "[run_uav] Forced local mode: $CONN"
+else
+    echo "[run_uav] Auto-detecting environment..."
+    if check_testbed; then
+        CONN="$TESTBED_CONN"
+        echo "[run_uav] Testbed detected, using: $CONN"
+    else
+        CONN="$LOCAL_CONN"
+        echo "[run_uav] Local mode (testbed not reachable), using: $CONN"
+    fi
+fi
+
+# Run via aerpawlib
+echo "[run_uav] Starting UAV runner..."
+python3 -m aerpawlib \
+    --script client.uav_runner \
+    --conn "$CONN" \
+    --vehicle drone