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Adding support to Wayland in Linux #9

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Adding support to Wayland in Linux #9

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1a95ab9
Adding support to Wayland in Linux
TOTON95 May 20, 2026
6dfc555
Update docker_run.sh
TOTON95 May 20, 2026
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13 changes: 12 additions & 1 deletion docker/docker_run.sh
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Original file line number Diff line number Diff line change
Expand Up @@ -5,6 +5,7 @@ SCRIPTPATH=$(dirname "$SCRIPT")
NO_GUI=false
NVIDIA=false
TMUX_LAYOUT=false
WAYLAND=false

while [[ $# -gt 0 ]]; do
case $1 in
Expand All @@ -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: $0 [--no-gui] [--nvidia] [--tmux] [--wayland]"
exit 1
;;
esac
Expand All @@ -49,6 +54,12 @@ if [ "$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
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1 change: 1 addition & 0 deletions docs/setup.md
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Expand Up @@ -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

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