From 6228501581157f3ee314cb1e13edfa3c09e89422 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?=D0=94=D0=B0=D0=BD=D0=B8=D0=B8=D0=BB=20=D0=93=D1=80=D0=B0?=
 =?UTF-8?q?=D0=B1=D0=B0=D1=80=D1=8C?= <grabardm@ml-dev.ru>
Date: Tue, 19 May 2026 16:26:05 +0300
Subject: [PATCH] Refactor Dockerfile and run script for improved GPU handling
 and environment variable management

---
 docker/jazzy/ros-iiwa7-webots/Dockerfile |  2 -
 docker/jazzy/ros-iiwa7-webots/run.sh     | 48 ++++++++++++++++++++++--
 2 files changed, 44 insertions(+), 6 deletions(-)

diff --git a/docker/jazzy/ros-iiwa7-webots/Dockerfile b/docker/jazzy/ros-iiwa7-webots/Dockerfile
index cb8f560..4180928 100644
--- a/docker/jazzy/ros-iiwa7-webots/Dockerfile
+++ b/docker/jazzy/ros-iiwa7-webots/Dockerfile
@@ -5,8 +5,6 @@ ARG BUILD_TYPE=release
 
 ENV RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
 ENV WEBOTS_HOME=/usr/local/webots
-ENV LIBGL_ALWAYS_SOFTWARE=1
-ENV GALLIUM_DRIVER=llvmpipe
 
 # X11 utilities and Mesa software renderer
 RUN apt-get update && apt-get install -y --no-install-recommends \
diff --git a/docker/jazzy/ros-iiwa7-webots/run.sh b/docker/jazzy/ros-iiwa7-webots/run.sh
index 3a38eb4..ff327c8 100755
--- a/docker/jazzy/ros-iiwa7-webots/run.sh
+++ b/docker/jazzy/ros-iiwa7-webots/run.sh
@@ -1,22 +1,62 @@
 #!/bin/bash
 # Run the Webots container with X11 forwarding.
+#
 # Usage:
-#   ./run.sh                          — interactive shell
-#   ./run.sh ros2 launch iiwa_bringup webots_spawn.launch.py ...
+#   ./run.sh [--gpu nvidia|mesa|software] [CMD...]
+#
+# Examples:
+#   ./run.sh                                  — software rendering (llvmpipe), по умолчанию
+#   ./run.sh --gpu mesa                       — Intel/AMD GPU через DRI (ноутбук без NVIDIA)
+#   ./run.sh --gpu nvidia                     — NVIDIA GPU rendering
+#   ./run.sh --gpu nvidia ros2 launch ...     — NVIDIA GPU rendering + команда
+
+set -e
 
 IMAGE="${WEBOTS_IMAGE:-evilfisru/lwc:webots-jazzy}"
+GPU_MODE="software"
+
+# Parse --gpu flag
+if [[ "${1}" == "--gpu" ]]; then
+    GPU_MODE="${2:?--gpu requires an argument: nvidia|mesa|software}"
+    shift 2
+fi
 
 # Allow local Docker processes to connect to the X server
 xhost +local:docker > /dev/null
 
+case "${GPU_MODE}" in
+    nvidia)
+        RENDER_FLAGS=(
+            --gpus all
+            -e NVIDIA_VISIBLE_DEVICES=all
+            -e NVIDIA_DRIVER_CAPABILITIES=graphics,utility,compute
+        )
+        ;;
+    mesa)
+        # Intel/AMD integrated/discrete — Mesa через DRI, без NVIDIA toolkit
+        RENDER_FLAGS=(
+            --device /dev/dri
+        )
+        ;;
+    software)
+        RENDER_FLAGS=(
+            -e LIBGL_ALWAYS_SOFTWARE=1
+            -e GALLIUM_DRIVER=llvmpipe
+        )
+        ;;
+    *)
+        echo "Unknown --gpu value: '${GPU_MODE}'. Use 'nvidia', 'mesa' or 'software'." >&2
+        exit 1
+        ;;
+esac
+
 docker run -it --rm \
     --name ros-webots \
     --network host \
     -e USER=root \
     -e DISPLAY="${DISPLAY}" \
     -e QT_X11_NO_MITSHM=1 \
-    -e LIBGL_ALWAYS_SOFTWARE=1 \
-    -e GALLIUM_DRIVER=llvmpipe \
+    "${RENDER_FLAGS[@]}" \
     -v /tmp/.X11-unix:/tmp/.X11-unix:rw \
     "${IMAGE}" \
     "$@"