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🎯 GATE 2 VALIDATION - REAL GAZEBO EDITION
======================================================================

⚠️  This will run scenarios in REAL Gazebo with physics!
   Each scenario may take 30-60 seconds to complete.

🔧 Setting up Real Gazebo Simulator...
  Starting Gazebo...
  ✅ Gazebo started
  Spawning turtlebot3_burger...
  ✅ turtlebot3_burger spawned
  Starting Nav2...
  ✅ Nav2 ready
  ✅ ROS2 node initialized
✅ Simulator ready!

🚀 Running 10 scenarios in Real Gazebo...
   Batch size: 5

📋 Generating scenarios...
   Generated 10 scenarios

▶️  Scenario 1/10: nav_0001
   ✅ PASS in 15.3s

▶️  Scenario 2/10: nav_0002
   ✅ PASS in 12.7s

▶️  Scenario 3/10: nav_0003
   ✅ PASS in 18.1s

▶️  Scenario 4/10: nav_0004
   ✅ PASS in 14.5s

▶️  Scenario 5/10: nav_0005
   ⚠️  1 collisions
   ❌ FAIL in 8.2s

📊 Progress Report:
   Completed: 5/10
   Success Rate: 80.0% (target: 95%)
   Collision Rate: 20.0% (max: 5%)
   Avg Time: 13.8s per scenario
   Est. Remaining: 1.2 minutes

▶️  Scenario 6/10: nav_0006
   ✅ PASS in 11.4s

▶️  Scenario 7/10: nav_0007
   ✅ PASS in 16.8s

▶️  Scenario 8/10: nav_0008
   ✅ PASS in 13.2s

▶️  Scenario 9/10: nav_0009
   ✅ PASS in 14.9s

▶️  Scenario 10/10: nav_0010
   ✅ PASS in 12.1s

📊 Progress Report:
   Completed: 10/10
   Success Rate: 90.0% (target: 95%)
   Collision Rate: 10.0% (max: 5%)
   Avg Time: 13.7s per scenario
   Est. Remaining: 0.0 minutes

✅ Validation complete in 2.3 minutes

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📊 GATE 2 VALIDATION REPORT - REAL GAZEBO
======================================================================

Total Scenarios: 10

Results:
  ✅ Success Rate: 90.00%
     (Threshold: ≥95%)

  ⚠️  Collision Rate: 10.00%
     (Threshold: ≤5%)

  🛡️  Safety Violations: 0
     (Threshold: 0)

  ⏱️  Avg Time: 13.7s
  📏 Avg Path: 5.2m

❌ GATE 2 FAILED. Review failures and re-run.

📁 Results saved to: gate2_real_results
======================================================================

NOTE: This is a SAMPLE OUTPUT showing what running Gate 2 validation
would look like with 10 scenarios. For actual validation:

1. Install Nav2 in Docker:
   ./scripts/setup_nav2_docker.sh

2. Run full validation (10,000 scenarios):
   ./scripts/run_gate2_real_gazebo.py --num-scenarios 10000

3. Expected runtime: ~150-300 minutes (2.5-5 hours) for 10K scenarios
