feat(lucy_ws): Jetson GPU detection and hardware-accelerated Docker GUI/sim#29
Draft
charlesmadjeri wants to merge 1 commit into
Draft
feat(lucy_ws): Jetson GPU detection and hardware-accelerated Docker GUI/sim#29charlesmadjeri wants to merge 1 commit into
charlesmadjeri wants to merge 1 commit into
Conversation
…GUI and Gazebo sim
This file contains hidden or bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
Sign up for free
to join this conversation on GitHub.
Already have an account?
Sign in to comment
1 participant
Add this suggestion to a batch that can be applied as a single commit.This suggestion is invalid because no changes were made to the code.Suggestions cannot be applied while the pull request is closed.Suggestions cannot be applied while viewing a subset of changes.Only one suggestion per line can be applied in a batch.Add this suggestion to a batch that can be applied as a single commit.Applying suggestions on deleted lines is not supported.You must change the existing code in this line in order to create a valid suggestion.Outdated suggestions cannot be applied.This suggestion has been applied or marked resolved.Suggestions cannot be applied from pending reviews.Suggestions cannot be applied on multi-line comments.Suggestions cannot be applied while the pull request is queued to merge.Suggestion cannot be applied right now. Please check back later.
Sentience-Robotics/lucy_ros2#110
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.