fix(pixi): enable Gazebo ogre2 rendering on Jetson via host GL env - #44
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charlesmadjeri wants to merge 2 commits into
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fix(pixi): enable Gazebo ogre2 rendering on Jetson via host GL env#44charlesmadjeri wants to merge 2 commits into
charlesmadjeri wants to merge 2 commits into
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Prepend Tegra/NVIDIA libraries ahead of conda Mesa, discover gz-rendering paths dynamically on Linux, and share Jetson detection between shell and Python. Headless EGL uses a private runtime dir; GUI sim keeps the session XDG_RUNTIME_DIR. Route rqt/lucy-cli through pixi_gui_launch.sh.
Signed-off-by: Charles Madjeri <80175305+charlesmadjeri@users.noreply.github.com>
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Summary
Fixes Gazebo Harmonic headless/GUI sim on Jetson where ogre2 failed to load (
gz-rendering-ogre2not found) and EGL rendering segfaulted. Pixi’s conda Mesa/GLVND was shadowing the Tegra driver, andGZ_RENDERING_*paths were unset.Changes
scripts/nix_gl_env.sh) — Auto-detect Jetson, prependnvidia/tegralibs, set NVIDIA EGL vendor (LUCY_GPU_MODE=jetsononly; nonvidiaalias).scripts/gz_rendering_env.shdiscovers ogre2 plugin/resources dynamically; wired into Linux pixi activation (withinstall/setup.bashpreserved).scripts/detect_jetson.sh+ tests intests/test_jetson_platform.py.rqt/lucy-clirouted viascripts/pixi_gui_launch.shso they get host GL env.LUCY_GPU_MODE,GZ_RENDERING_*,LUCY_HEADLESS_RUNTIME_DIR; assertsnix_gl_env.shis sourced forros2commands.pixi_setup.md.