feat(lucy_ws): Jetson GPU detection and hardware-accelerated Docker GUI/sim

config/launcher_config.json

@@ -32,7 +32,7 @@
             "conflicts": ["real"],
             "command": "gazebo:=true",
             "runs_on_vnc": true,
-            "readiness_check": "pgrep -f '[g]azebo' >/dev/null 2>&1",
+            "readiness_check": "pgrep -f '[g]z sim' >/dev/null 2>&1",
             "readiness_timeout": 120,
             "default_on": false
         },

docker/gpu_detect.sh

@@ -0,0 +1,156 @@
+#!/usr/bin/env bash
+# Detect host GPU capabilities and populate Docker flags for Lucy launches.
+#
+# Source from launch_lucy.sh or install.sh (do not execute directly):
+#   source "$SCRIPT_DIR/docker/gpu_detect.sh"
+#
+# Sets:
+#   LUCY_GPU_MODE   — jetson | nvidia | dri | software
+#   GPU_DOCKER_ARGS — bash array appended to docker run
+#
+# Override detection for testing: LUCY_GPU_MODE=software|jetson|nvidia|dri
+
+GPU_DOCKER_ARGS=()
+LUCY_GPU_MODE=software
+
+_lucy_is_jetson() {
+  if [[ -f /etc/nv_tegra_release ]]; then
+    return 0
+  fi
+  if [[ -r /proc/device-tree/model ]]; then
+    tr -d '\0' </proc/device-tree/model 2>/dev/null | grep -qi jetson
+    return $?
+  fi
+  return 1
+}
+
+_lucy_docker_has_nvidia_runtime() {
+  docker info 2>/dev/null | grep -qiE 'nvidia|Runtimes.*nvidia'
+}
+
+_lucy_append_dri_devices() {
+  local node
+  shopt -s nullglob
+  for node in /dev/dri/card* /dev/dri/renderD*; do
+    GPU_DOCKER_ARGS+=(--device "$node")
+  done
+  shopt -u nullglob
+}
+
+_lucy_append_render_groups() {
+  # Docker resolves group names against the *image* /etc/group, not the host.
+  # Pass numeric GIDs from the host so render/video access works in the container.
+  local group gid
+  for group in render video; do
+    gid="$(getent group "$group" 2>/dev/null | awk -F: '{print $3}')"
+    [[ -n "$gid" ]] || continue
+    GPU_DOCKER_ARGS+=(--group-add "$gid")
+  done
+}
+
+_lucy_apply_jetson_gpu() {
+  LUCY_GPU_MODE=jetson
+  if _lucy_docker_has_nvidia_runtime; then
+    GPU_DOCKER_ARGS+=(--runtime nvidia)
+    GPU_DOCKER_ARGS+=(-e "NVIDIA_VISIBLE_DEVICES=all")
+    GPU_DOCKER_ARGS+=(-e "NVIDIA_DRIVER_CAPABILITIES=graphics,utility,compute,video")
+    GPU_DOCKER_ARGS+=(-e "__GLX_VENDOR_LIBRARY_NAME=nvidia")
+    GPU_DOCKER_ARGS+=(-e "__EGL_VENDOR_LIBRARY_FILENAMES=/usr/share/glvnd/egl_vendor.d/10_nvidia.json")
+  else
+    echo "GPU: jetson detected but Docker nvidia runtime missing; using software rendering." >&2
+    echo "       Install nvidia-container-toolkit for hardware GL in the container." >&2
+  fi
+  if [[ -d /dev/dri ]]; then
+    _lucy_append_dri_devices
+    _lucy_append_render_groups
+  fi
+}
+
+lucy_apply_gpu_detect() {
+  GPU_DOCKER_ARGS=()
+  LUCY_GPU_MODE=software
+
+  case "$(echo "${LUCY_GPU_MODE_OVERRIDE:-}" | tr '[:upper:]' '[:lower:]')" in
+    jetson|nvidia|dri|software)
+      LUCY_GPU_MODE="${LUCY_GPU_MODE_OVERRIDE,,}"
+      case "$LUCY_GPU_MODE" in
+        jetson) _lucy_apply_jetson_gpu ;;
+        nvidia)
+          GPU_DOCKER_ARGS+=(--gpus all)
+          GPU_DOCKER_ARGS+=(-e "NVIDIA_VISIBLE_DEVICES=all")
+          GPU_DOCKER_ARGS+=(-e "NVIDIA_DRIVER_CAPABILITIES=graphics,utility,compute,video")
+          GPU_DOCKER_ARGS+=(-e "__GLX_VENDOR_LIBRARY_NAME=nvidia")
+          GPU_DOCKER_ARGS+=(-e "__EGL_VENDOR_LIBRARY_FILENAMES=/usr/share/glvnd/egl_vendor.d/10_nvidia.json")
+          ;;
+        dri)
+          _lucy_append_dri_devices
+          _lucy_append_render_groups
+          ;;
+      esac
+      return 0
+      ;;
+  esac
+
+  if _lucy_is_jetson; then
+    _lucy_apply_jetson_gpu
+    return 0
+  fi
+
+  if command -v nvidia-smi >/dev/null 2>&1 && _lucy_docker_has_nvidia_runtime; then
+    if nvidia-smi >/dev/null 2>&1; then
+      LUCY_GPU_MODE=nvidia
+      GPU_DOCKER_ARGS+=(--gpus all)
+      GPU_DOCKER_ARGS+=(-e "NVIDIA_VISIBLE_DEVICES=all")
+      GPU_DOCKER_ARGS+=(-e "NVIDIA_DRIVER_CAPABILITIES=graphics,utility,compute,video")
+      GPU_DOCKER_ARGS+=(-e "__GLX_VENDOR_LIBRARY_NAME=nvidia")
+      GPU_DOCKER_ARGS+=(-e "__EGL_VENDOR_LIBRARY_FILENAMES=/usr/share/glvnd/egl_vendor.d/10_nvidia.json")
+      return 0
+    fi
+  fi
+
+  if [[ -d /dev/dri ]] && compgen -G '/dev/dri/renderD*' >/dev/null 2>&1; then
+    LUCY_GPU_MODE=dri
+    _lucy_append_dri_devices
+    _lucy_append_render_groups
+    return 0
+  fi
+
+  LUCY_GPU_MODE=software
+}
+
+lucy_gpu_launch_message() {
+  case "$LUCY_GPU_MODE" in
+    jetson)
+      if _lucy_docker_has_nvidia_runtime; then
+        echo "GPU: jetson (nvidia container runtime + /dev/dri when available)"
+      else
+        echo "GPU: jetson (software fallback — nvidia runtime not configured)"
+      fi
+      ;;
+    nvidia) echo "GPU: nvidia (hardware acceleration enabled)" ;;
+    dri)    echo "GPU: dri (Mesa /dev/dri passthrough)" ;;
+    *)      echo "GPU: software (VNC llvmpipe or headless rendering)" ;;
+  esac
+}
+
+# Pick a host DISPLAY when unset so Jetson can use native X11 + GPU instead of VNC/llvmpipe.
+lucy_resolve_host_display() {
+  [[ -n "${DISPLAY:-}" ]] && return 0
+
+  local sock n
+  shopt -s nullglob
+  for sock in /tmp/.X11-unix/X[0-9]*; do
+    n="${sock##*/X}"
+    DISPLAY=":${n}"
+    export DISPLAY
+    shopt -u nullglob
+    echo "GUI: auto-selected DISPLAY=$DISPLAY (local X11 socket)" >&2
+    return 0
+  done
+  shopt -u nullglob
+}
+
+# When sourced, apply immediately unless caller sets LUCY_GPU_DETECT_DEFER=1.
+if [[ "${BASH_SOURCE[0]}" != "${0}" ]] && [[ "${LUCY_GPU_DETECT_DEFER:-}" != 1 ]]; then
+  lucy_apply_gpu_detect
+fi

docker/gui_desktop.sh

@@ -30,6 +30,17 @@ VNC_PASSWORD="${LUCY_GUI_VNC_PASSWORD:-lucy}"
 VNC_PASSWD_FILE=/tmp/.lucy_vncpasswd
 export DISPLAY=":${DISPLAY_NUM}"
 
+# When the container was started with Jetson/NVIDIA GPU passthrough, prefer the
+# NVIDIA GLX vendor so Xvfb-backed RViz/Gazebo use the Tegra GPU instead of llvmpipe.
+case "${LUCY_GPU_MODE:-}" in
+  jetson|nvidia)
+    export __GLX_VENDOR_LIBRARY_NAME=nvidia
+    export __EGL_VENDOR_LIBRARY_FILENAMES=/usr/share/glvnd/egl_vendor.d/10_nvidia.json
+    ;;
+esac
+export XDG_RUNTIME_DIR="${XDG_RUNTIME_DIR:-/tmp/runtime-root}"
+mkdir -p "$XDG_RUNTIME_DIR" 2>/dev/null || true
+
 log() { echo "[gui_desktop] $*"; }
 # Match by exact process name (comm), not full command line, so these checks can't
 # accidentally match the surrounding shell whose argv may mention these binaries.

install.sh

@@ -44,6 +44,8 @@ fi
 
 # shellcheck disable=SC1091
 source "$SCRIPT_DIR/docker/ensure_image.sh"
+# shellcheck disable=SC1091
+source "$SCRIPT_DIR/docker/gpu_detect.sh"
 
 ensure_docker_image() {
   ensure_lucy_docker_image "$SCRIPT_DIR" "$IMAGE_NAME" "$DOCKERFILE_PATH"
@@ -103,7 +105,8 @@ remove_workspace_src_repo() {
   local name="$1"
   rm -rf "src/${name}" 2>/dev/null || true
   docker_run_platform_flags "$SCRIPT_DIR"
-  docker run "${DOCKER_RUN_PLATFORM_ARGS[@]}" --rm \
+  docker run "${DOCKER_RUN_PLATFORM_ARGS[@]}" "${GPU_DOCKER_ARGS[@]}" --rm \
+    -e LUCY_GPU_MODE="$LUCY_GPU_MODE" \
     -v "$SCRIPT_DIR:$WORKSPACE" \
     "$IMAGE_NAME" -c "rm -rf ${WORKSPACE}/src/${name}"
 }
@@ -150,6 +153,7 @@ docker_workspace_install() {
   ensure_docker_image
   docker_run_platform_flags "$SCRIPT_DIR"
   docker_run_it_flags
+  lucy_gpu_launch_message
   echo "Docker install: rosdep, colcon build, yarn install (lucy_control_panel) ..."
   local inner_cmd
   read -r -d '' inner_cmd <<'EOS' || true
@@ -163,7 +167,8 @@ source /opt/ros/humble/setup.bash \
        ( cd src/lucy_control_panel && yarn install ); \
      fi
 EOS
-  docker run "${DOCKER_RUN_PLATFORM_ARGS[@]}" "${DOCKER_RUN_IT[@]}" --rm \
+  docker run "${DOCKER_RUN_PLATFORM_ARGS[@]}" "${DOCKER_RUN_IT[@]}" "${GPU_DOCKER_ARGS[@]}" --rm \
+    -e LUCY_GPU_MODE="$LUCY_GPU_MODE" \
     -v "$SCRIPT_DIR:$WORKSPACE" \
     "$IMAGE_NAME" -c "$inner_cmd"
 }

launch_lucy.sh

@@ -15,6 +15,7 @@
 # VITE_PORT from src/lucy_control_panel/.env, else 5000). Vite proxies /rosbridge to the bridge.
 #
 # Docker platform follows the last ./install.sh run (.lucy-docker-platform; override with LUCY_DOCKER_PLATFORM).
+# GPU mode is auto-detected via docker/gpu_detect.sh (jetson / nvidia / dri / software).
 
 set -e
 SCRIPT_DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" && pwd)"
@@ -61,6 +62,10 @@ WORKSPACE="/workspace"
 # shellcheck disable=SC1091
 source "$SCRIPT_DIR/docker/ensure_image.sh"
 
+# shellcheck disable=SC1091
+source "$SCRIPT_DIR/docker/gpu_detect.sh"
+lucy_resolve_host_display
+
 ensure_docker_image() {
   ensure_lucy_docker_image "$SCRIPT_DIR" "$IMAGE_NAME" "$DOCKERFILE_PATH"
 }
@@ -86,25 +91,41 @@ case "$(echo "${LUCY_FORCE_VNC:-}" | tr '[:upper:]' '[:lower:]')" in
   1|true|yes) USE_VNC=1 ;;
   0|false|no) USE_VNC=0 ;;
 esac
+
+# Prefer native X11 + GPU when hardware acceleration is available (Jetson / NVIDIA / DRI).
+if [ "$USE_VNC" = 1 ] && [ "${LUCY_GPU_MODE:-software}" != "software" ] && [ -n "${DISPLAY:-}" ]; then
+  case "$(echo "${LUCY_FORCE_VNC:-}" | tr '[:upper:]' '[:lower:]')" in
+    1|true|yes) ;;
+    *) USE_VNC=0 ;;
+  esac
+fi
+
 if [ "${1:-}" = "--headless" ]; then
   shift
   echo "Headless: no X11 (Gazebo runs headless; RViz is disabled by the launch)."
 elif [ "$USE_VNC" = 1 ]; then
-  # VNC desktop: native X11/GLX is unavailable or unreliable for GL apps (RViz,
-  # Gazebo). Offer an opt-in virtual desktop via noVNC/VNC from the launcher. The
-  # display is not started automatically — enable it in the launcher.
+  # VNC desktop: software GL fallback when no hardware GPU path is available.
+  # With jetson/nvidia/dri, prefer native X11 above; if you still land here (no DISPLAY),
+  # RViz/Gazebo render via Xvfb + llvmpipe on CPU — see message below.
   GUI_VNC_PORT="$(resolve_host_port VNC "${LUCY_GUI_VNC_PORT:-5901}")"
   GUI_NOVNC_PORT="$(resolve_host_port noVNC "${LUCY_GUI_NOVNC_PORT:-6080}")"
   GUI_VNC_PASSWORD="${LUCY_GUI_VNC_PASSWORD:-lucy}"
   X11_ARGS=(
     -e LUCY_GUI_VNC_AVAILABLE=1
     -e LUCY_GUI_VNC_PASSWORD="$GUI_VNC_PASSWORD"
     -e LUCY_ORIGINAL_DISPLAY="${DISPLAY:-}"
-    -e LIBGL_ALWAYS_SOFTWARE=1
-    -e GALLIUM_DRIVER=llvmpipe
     -e LUCY_GUI_NOVNC_PUBLISHED_PORT="$GUI_NOVNC_PORT"
     -e LUCY_GUI_VNC_PUBLISHED_PORT="$GUI_VNC_PORT"
+    -e XDG_RUNTIME_DIR=/tmp/runtime-root
   )
+  if [ "${LUCY_GPU_MODE:-software}" = "software" ]; then
+    X11_ARGS+=(
+      -e LIBGL_ALWAYS_SOFTWARE=1
+      -e GALLIUM_DRIVER=llvmpipe
+    )
+  else
+    echo "GUI: noVNC virtual desktop (Jetson/NVIDIA GL when __GLX_VENDOR_LIBRARY_NAME=nvidia is set)" >&2
+  fi
   GUI_PORT_ARGS=(
     -p "${GUI_VNC_PORT}:5901"
     -p "${GUI_NOVNC_PORT}:6080"
@@ -113,7 +134,7 @@ elif [ "$USE_VNC" = 1 ]; then
   echo "       Browser (noVNC):  http://localhost:${GUI_NOVNC_PORT}/vnc.html  (no password)"
   echo "       VNC Viewer:       localhost:${GUI_VNC_PORT}  (password: ${GUI_VNC_PASSWORD})"
 else
-  # AMD64: native X11 forwarding, no VNC.
+  # Native X11 forwarding (GPU path on Jetson / NVIDIA / DRI when DISPLAY is set).
   GUI_DISPLAY="${DOCKER_GUI_DISPLAY:-$DISPLAY}"
   if [ -n "$GUI_DISPLAY" ]; then
     if command -v xhost &>/dev/null; then
@@ -124,7 +145,11 @@ else
       echo "GUI: DISPLAY=:0 (host network)."
     else
       X11_ARGS=(-e DISPLAY="$GUI_DISPLAY" -v /tmp/.X11-unix:/tmp/.X11-unix:rw)
-      echo "GUI: DISPLAY=$GUI_DISPLAY"
+      if [ "${LUCY_GPU_MODE:-software}" != "software" ]; then
+        echo "GUI: DISPLAY=$GUI_DISPLAY (hardware GPU — nvidia runtime / DRI)"
+      else
+        echo "GUI: DISPLAY=$GUI_DISPLAY"
+      fi
     fi
   else
     echo "GUI: DISPLAY not set; Gazebo will run headless (RViz disabled)."
@@ -135,6 +160,8 @@ ensure_docker_image
 docker_run_platform_flags "$SCRIPT_DIR"
 docker_run_it_flags
 
+lucy_gpu_launch_message
+
 # ----------------------------------------------------------------------------
 # Port mapping (control panel + rosbridge)
 # ----------------------------------------------------------------------------
@@ -251,8 +278,10 @@ if [ $# -eq 0 ]; then
     --name lucy_dev \
     "${DOCKER_PORT_ARGS[@]}" \
     "${GUI_PORT_ARGS[@]}" \
+    "${GPU_DOCKER_ARGS[@]}" \
     -v "$SCRIPT_DIR:$WORKSPACE" \
     "${X11_ARGS[@]}" \
+    -e LUCY_GPU_MODE="$LUCY_GPU_MODE" \
     -e LUCY_LCP_PUBLISHED_HOST_PORT="$PORT_CONTROL_PANEL" \
     -e LUCY_LCP_CONTAINER_PORT="$PORT_CONTROL_PANEL_CONTAINER" \
     -e LUCY_LCP_SCHEME="$LCP_SCHEME" \
@@ -261,7 +290,9 @@ else
   docker run "${DOCKER_RUN_PLATFORM_ARGS[@]}" "${DOCKER_RUN_IT[@]}" --rm \
     --name lucy_dev \
     "${DOCKER_PORT_ARGS[@]}" \
+    "${GPU_DOCKER_ARGS[@]}" \
     -v "$SCRIPT_DIR:$WORKSPACE" \
     "${X11_ARGS[@]}" \
+    -e LUCY_GPU_MODE="$LUCY_GPU_MODE" \
     "$IMAGE_NAME" -c "${SETUP} && ${SOURCE_WORKSPACE} && $*"
 fi