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Update display instructions #5

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28 changes: 24 additions & 4 deletions README.md
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Expand Up @@ -155,7 +155,9 @@ chmod +x <filepath>

* Having multiple terminals open can get confusing, luckily in VSCode you can rename each terminal to something more convenient: Right-click terminal name -> rename.

## Enabling the container to display GUIs on the host machine (Windows)
## Enabling the container to display GUIs on the host machine

### Windows

Prerequisite: Chocolatey must be installed on your computer.

Expand Down Expand Up @@ -193,10 +195,28 @@ source /utils/set-display.sh <Local IP Address>

Now when you run the simulator you should see the display open in a new window.

### Enabling the Container to display GUIs on the host machine (Ubuntu, and other)
### Ubuntu

First, install [Rocker](https://github.com/osrf/rocker), then after you have built your image (step 3), run the following command in your Terminal to run the Docker image:
Run this command on the host to give yourself display permissions

```shell
xhost +si:localuser:root
```
rocker [optional: --nvidia or --devices /dev/dri/card0] --x11 docker-ros

Check what the DISPLAY environment variable is set to on the host. Will probably be something like `:11.0`

```shell
echo $DISPLAY
```

To allow visual output, set the same environment variable in your container

```shell
export DISPLAY=<VALUE-ON-HOST>
```

To learn more about this voodoo, see [what is the $DISPLAY environment variable?](https://askubuntu.com/questions/432255/what-is-the-display-environment-variable)

### Mac

Unfortunately we have not yet found a stable way to display `rviz` on a Mac host. We would really appreciate if someone could contribute a solution!