barracuda-simulation

GUI On Wayland/XWayland

• Requirements: host has a Wayland session (or X11), Docker Compose v2, and optionally NVIDIA Container Toolkit for GPU.
• No Xauthority is required. The container auto-detects Wayland vs X11 and sets QT_QPA_PLATFORM accordingly.
• XWayland: ensure DISPLAY is set and /tmp/.X11-unix exists on the host. If access is denied, run xhost +local: once on the host.
• Wayland: ensure WAYLAND_DISPLAY and XDG_RUNTIME_DIR are set in the session. Compose mounts ${XDG_RUNTIME_DIR} into the container.

Run With Compose

• XWayland and Wayland sockets are already mounted in docker-compose.yml.
• The service runs as your user and adds GPU access groups by GID.
• Start: docker compose up --build
• Optional (only if your host uses non‑standard group IDs):
  • export VIDEO_GID=$(getent group video | cut -d: -f3)
  • export RENDER_GID=$(getent group render | cut -d: -f3)
  • Defaults are VIDEO_GID=44, RENDER_GID=109. If these match your system (common), no exports are needed.

NVIDIA GPU (optional)

• Install NVIDIA drivers and NVIDIA Container Toolkit on the host.
• docker-compose.yml includes gpus: all and NVIDIA env so Gazebo can use the GPU.
• If you see permission issues on /dev/dri, verify VIDEO_GID and RENDER_GID exports above.

Troubleshooting

• No window: verify DISPLAY (XWayland) or WAYLAND_DISPLAY/XDG_RUNTIME_DIR (Wayland) exist on the host.
• Access denied on X: run xhost +local: on the host.
• Force backend: set QT_QPA_PLATFORM=wayland (Wayland) or leave default to prefer XWayland.