Refactor Dockerfile and run script for improved GPU handling and environment variable management

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 \
     "${IMAGE}" \
     "$@"