diff --git a/docker/docker_run.sh b/docker/docker_run.sh
index 06a4975..974cecb 100755
--- a/docker/docker_run.sh
+++ b/docker/docker_run.sh
@@ -5,6 +5,7 @@ SCRIPTPATH=$(dirname "$SCRIPT")
 NO_GUI=false
 NVIDIA=false
 TMUX_LAYOUT=false
+WAYLAND=false
 
 while [[ $# -gt 0 ]]; do
     case $1 in
@@ -20,9 +21,13 @@ while [[ $# -gt 0 ]]; do
             TMUX_LAYOUT=true
             shift
             ;;
+        --wayland)
+            WAYLAND=true
+            shift
+            ;;
         *)
             echo "Unknown argument: $1"
-            echo "Usage: $0 [--no-gui] [--nvidia] [--tmux]"
+            echo "Usage: $0 [--no-gui] [--nvidia] [--tmux] [--wayland]"
             exit 1
             ;;
     esac
@@ -49,6 +54,12 @@ if [ "$NO_GUI" = false ]; then
     DOCKER_CMD="$DOCKER_CMD -v /tmp/.X11-unix:/tmp/.X11-unix:ro"
     DOCKER_CMD="$DOCKER_CMD -e DISPLAY=$DISPLAY"
 
+    # WAYLAND support through X11 Compatibility Layer
+    # We need it so QT can talk to the display for Gazebo
+    if [ $WAYLAND = true ]; then
+	DOCKER_CMD="$DOCKER_CMD -e QT_QPA_PLATFORM=xcb"
+    fi
+
     # Always forward /dev/dri so Mesa has a working DRM path. The nvidia
     # runtime by itself only provides NVIDIA's GL stack; it does not expose
     # the integrated GPU. Without /dev/dri the iris/i915 Mesa driver fails
diff --git a/docs/setup.md b/docs/setup.md
index 0cbd066..b825ae8 100644
--- a/docs/setup.md
+++ b/docs/setup.md
@@ -95,6 +95,7 @@ You can use also use these options:
 This option also forwards port `18570` to allow external (Host) QGC connection.
 - `--nvidia` to run the container with the `nvidia` runtime (it requires the [NVIDIA Container Toolkit](https://docs.nvidia.com/datacenter/cloud-native/container-toolkit/latest/install-guide.html) installed and registered with Docker on the host; see `nvidia-ctk runtime configure --runtime=docker` followed by `sudo systemctl restart docker`).
 - `--tmux` to drop straight into the preconfigured workshop `tmux` layout (see [Option C](simulation.md#option-c--the-preconfigured-workshop-layout-workshop-tmux)) instead of a plain shell. Detaching the session (`Ctrl+b d`) leaves you in a normal shell with the simulation still running; reattach with `workshop-tmux`.
+- `--wayland` to use Wayland's X11 Compatibility layer so Gazebo can run on machines using Wayland as Window Manager, make sure to run `xhost +local:docker` on your host terminal first.
 
 When using this method you can attach new shell to your container by running