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feat(inmoov_urdf): set NVIDIA EGL/GLX env for gz sim on Jetson #21

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feat(inmoov_urdf): set NVIDIA EGL/GLX env for gz sim on Jetson #21

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17 changes: 17 additions & 0 deletions launch/gazebo.launch.py
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Original file line number Diff line number Diff line change
Expand Up @@ -228,6 +228,22 @@ def _camera_compressor(topic: str, compressed_topic: str) -> Node:
[s for s in [os.environ.get("GZ_SIM_SYSTEM_PLUGIN_PATH", ""), ros_lib] if s]
).strip(os.pathsep)

gpu_env_actions = [
SetEnvironmentVariable(name="XDG_RUNTIME_DIR", value="/tmp/runtime-root"),
]
if os.environ.get("LUCY_GPU_MODE", "").lower() in ("jetson", "nvidia"):
gpu_env_actions.extend(
[
SetEnvironmentVariable(
name="__EGL_VENDOR_LIBRARY_FILENAMES",
value="/usr/share/glvnd/egl_vendor.d/10_nvidia.json",
),
SetEnvironmentVariable(
name="__GLX_VENDOR_LIBRARY_NAME", value="nvidia"
),
]
)

try:
gz_sim_share = get_package_share_directory("ros_gz_sim")
gz_sim_launch_path = os.path.join(gz_sim_share, "launch", "gz_sim.launch.py")
Expand Down Expand Up @@ -308,6 +324,7 @@ def spawner_actions_from_yaml(context, *args, **kwargs):
urdf_path_arg,
ros2_control_file_arg,
headless_arg,
*gpu_env_actions,
SetEnvironmentVariable(name="GZ_SIM_RESOURCE_PATH", value=mesh_dae),
SetEnvironmentVariable(
name="GZ_SIM_SYSTEM_PLUGIN_PATH", value=gz_plugin_path
Expand Down
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