From f8b749ca2f97961d82c28ef29e9be352d004f175 Mon Sep 17 00:00:00 2001
From: Charles Madjeri <80175305+charlesmadjeri@users.noreply.github.com>
Date: Sun, 5 Jul 2026 01:39:11 +0200
Subject: [PATCH] feat(inmoov_urdf): set NVIDIA EGL/GLX env for gz sim on
 Jetson

---
 launch/gazebo.launch.py | 17 +++++++++++++++++
 1 file changed, 17 insertions(+)

diff --git a/launch/gazebo.launch.py b/launch/gazebo.launch.py
index 77e37c7..2f30a76 100644
--- a/launch/gazebo.launch.py
+++ b/launch/gazebo.launch.py
@@ -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")
@@ -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