feat(lucy_ws): Jetson GPU detection and hardware-accelerated Docker GUI/sim - #29
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…GUI and Gazebo sim
Signed-off-by: Charles Madjeri <80175305+charlesmadjeri@users.noreply.github.com>
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Sentience-Robotics/lucy_ros2#110
OP#41
Summary
jetson/nvidia/dri/software) and pass the right Docker flags:nvidiaruntime,/dev/dridevices, hostrender/videoGIDs, and NVIDIA GL/EGL env vars (NVIDIA_VISIBLE_DEVICES,__GLX_VENDOR_LIBRARY_NAME,__EGL_VENDOR_LIBRARY_FILENAMES).LIBGL_ALWAYS_SOFTWAREwhen a hardware GPU is available; setXDG_RUNTIME_DIRand NVIDIA GLX/EGL vendor ingui_desktop.sh.DISPLAY=:99, auto-start Xvfb when RViz/Gazebo are selected, auto-tick noVNC, and correct simulator readiness to checkgz sim(notros_gz_sim).launch_lucy.shandinstall.sh; prefer native X11 + GPU whenDISPLAYis available on arm64.