surface

s.sh

@@ -0,0 +1,22 @@
+
+#!/bin/bash
+# Allow your user inside the container to connect to Xwayland
+xhost +si:localuser:$(whoami)
+
+docker run -it --rm \
+    --name ros2-container \
+    --privileged \
+    --device=/dev/dri:/dev/dri \
+    --device=/dev/ttyUSB0 \
+    -v /tmp/.X11-unix:/tmp/.X11-unix \
+    -v /run/user/$(id -u):/run/user/$(id -u) \
+    -e DISPLAY=$DISPLAY \
+    -e QT_X11_NO_MITSHM=1 \
+    -v $(pwd)/ros2_ws:/home/rosuser/ros2_ws \
+    -v $HOME/.Xauthority:/root/.Xauthority:ro \
+    --user $(id -u):$(id -g) \
+    --group-add video \
+    --group-add dialout \
+    --ipc=host \
+    ros2-humble-gui
+