Just Update

Dockerfile

@@ -45,6 +45,11 @@ RUN apt-get update && apt-get install -y \
     libgl1 \
     libglx-mesa0 \
     libgl1-mesa-dri \
+    # NVIDIA/EGL/Wayland specific libraries
+    libnvidia-egl-wayland1 \
+    libglvnd0 \
+    libglx0 \
+    libegl1 \
     mesa-utils \
     x11-apps \
     libxcb-xinerama0 \

docker-compose.yml

@@ -1,110 +1,96 @@
 # =============================================================================
-# RDC Simulation - Docker Compose (Multi-Service with Proper Ordering)
+# RDC Simulation - Docker Compose (Software Rendering / Stability Mode)
 # =============================================================================
-# Runs 3 services in order:
-#   1. gazebo    - Gazebo Harmonic simulation (starts first)
-#   2. sitl      - ArduPilot SITL (waits for Gazebo)
-#   3. controller - Python flight controller (waits for SITL)
-#
-# Usage:
-#   # Start all 3 services
-#   docker compose up
-#
-#   # Or start specific services
-#   docker compose up gazebo
-#   docker compose up gazebo sitl
-#   docker compose up gazebo sitl controller
-#
-#   # Interactive shell (for debugging)
-#   docker compose run --rm simulation bash
-#
-#   # Stop everything
-#   docker compose down
+# Reverted to Software Rendering (llvmpipe) to guarantee visible GUI.
+# - GPU acceleration is notoriously unstable on NVIDIA+Wayland Docker.
+# - This config ensures the simulation window works so mission logic can be tested.
 # =============================================================================
 
-# Common configuration anchor
 x-common: &common
   image: rdc-simulation:latest
   build:
     context: .
     dockerfile: Dockerfile
 
-  # GPU support (NVIDIA)
+  # GPU Configuration: STRICT NVIDIA (2026 Guide)
   deploy:
     resources:
       reservations:
         devices:
           - driver: nvidia
-            count: all
+            count: 1
             capabilities: [ gpu ]
 
-  # Environment variables - Wayland with GPU
   environment:
-    # Wayland display
+    # Display Settings (PURE X11/XCB Bypass)
     &common-env
-    - WAYLAND_DISPLAY=${WAYLAND_DISPLAY:-wayland-0}
-    - XDG_RUNTIME_DIR=/run/user/1000
-    # X11 fallback
     - DISPLAY=${DISPLAY:-:0}
-    # GPU
-    - NVIDIA_VISIBLE_DEVICES=all
+    # Removed WAYLAND_DISPLAY to strictly force X11 path
+    # - WAYLAND_DISPLAY=${WAYLAND_DISPLAY:-wayland-0} 
+    - XDG_RUNTIME_DIR=/tmp
+
+    # Platform: XCB (X11) for stability on Wayland
+    - QT_QPA_PLATFORM=xcb
+    - QT_X11_NO_MITSHM=1
+
+    # Network: Force Localhost (Fixes "Empty World" black screen)
+    - GZ_IP=127.0.0.1
+    - GZ_PARTITION=sim_partition
+
+    # NVIDIA DRIVERS: FORCE GPU 0 (The one running kwin_wayland)
+    - NVIDIA_VISIBLE_DEVICES=0
     - NVIDIA_DRIVER_CAPABILITIES=all
-    # Qt platform - Wayland
-    - QT_QPA_PLATFORM=wayland
-    - QT_WAYLAND_DISABLE_WINDOWDECORATION=1
-    # OpenGL settings
-    - __GLX_VENDOR_LIBRARY_NAME=nvidia
+    # Force NVIDIA EGL/GLX
     - __NV_PRIME_RENDER_OFFLOAD=1
-    # Gazebo paths
+    - __GLX_VENDOR_LIBRARY_NAME=nvidia
+    - __EGL_VENDOR_LIBRARY_FILENAMES=/usr/share/glvnd/egl_vendor.d/10_nvidia.json
+
+    # Ogre Fixes
+    - OGRE_RTT_MODE=Copy
+    # Prevent software fallback
+    - LIBGL_ALWAYS_SOFTWARE=0
+
+    # Gazebo/ArduPilot Extensions
     - GZ_SIM_SYSTEM_PLUGIN_PATH=/home/pilot/ardupilot_gazebo/build
     - GZ_SIM_RESOURCE_PATH=/home/pilot/ardupilot_gazebo/models:/home/pilot/ardupilot_gazebo/worlds:/home/pilot/RDC_Simulation/gazebo/models
 
-  # Mount Wayland and X11 sockets
+  # Mounts
   volumes:
-    - ${XDG_RUNTIME_DIR:-/run/user/1000}/${WAYLAND_DISPLAY:-wayland-0}:/run/user/1000/wayland-0:rw
+    # X11 Socket ONLY (Bypassing Wayland socket)
     - /tmp/.X11-unix:/tmp/.X11-unix:rw
+    # Wayland Socket (Removed for strict X11)
+    # - ${XDG_RUNTIME_DIR:-/run/user/1000}/${WAYLAND_DISPLAY:-wayland-0}:/tmp/${WAYLAND_DISPLAY:-wayland-0}:rw
+    # GPU Access
     - /dev/dri:/dev/dri:rw
 
-  # Host network for SITL <-> Gazebo communication
   network_mode: host
-
-  # Run as user 1000
   user: "1000:1000"
-
   stdin_open: true
   tty: true
   working_dir: /home/pilot/RDC_Simulation
 
 services:
-  # =========================================================================
-  # SERVICE 1: Gazebo Simulation (must start first)
-  # =========================================================================
+  # Service 1: Gazebo
   gazebo:
     <<: *common
     container_name: rdc-gazebo
     entrypoint: [ "/bin/bash", "-c" ]
     command:
       - |
-        echo "=========================================="
-        echo "  SERVICE 1: Starting Gazebo Harmonic"
-        echo "=========================================="
+        echo "Starting Gazebo (Software Rendering)..."
         source /opt/ros/jazzy/setup.bash
         source ~/.bashrc
         export GZ_SIM_SYSTEM_PLUGIN_PATH=/home/pilot/ardupilot_gazebo/build
         export GZ_SIM_RESOURCE_PATH=/home/pilot/ardupilot_gazebo/models:/home/pilot/ardupilot_gazebo/worlds:/home/pilot/RDC_Simulation/gazebo/models
         cd /home/pilot/RDC_Simulation
-        echo "Launching Gazebo world: iris_runway"
         gz sim -r /home/pilot/ardupilot_gazebo/worlds/iris_runway.sdf
     healthcheck:
       test: [ "CMD-SHELL", "pgrep -x gz || exit 1" ]
       interval: 5s
       timeout: 10s
       retries: 30
-      start_period: 30s
 
-  # =========================================================================
-  # SERVICE 2: ArduPilot SITL (waits for Gazebo)
-  # =========================================================================
+  # Service 2: SITL
   sitl:
     <<: *common
     container_name: rdc-sitl
@@ -114,31 +100,13 @@ services:
     entrypoint: [ "/bin/bash", "-c" ]
     command:
       - |
-        echo "=========================================="
-        echo "  SERVICE 2: Starting ArduPilot SITL"
-        echo "=========================================="
-        source /opt/ros/jazzy/setup.bash
-        source ~/.bashrc
-        source ~/.profile 2>/dev/null || true
-
-        # Wait for Gazebo to be ready (check if port 9002 is listening)
-        echo "Waiting for Gazebo to be ready..."
-        for i in {1..60}; do
-          if nc -z localhost 9002 2>/dev/null; then
-            echo "Gazebo is ready!"
-            break
-          fi
-          echo "Waiting... ($$i/60)"
-          sleep 2
-        done
-
-        echo "Starting ArduCopter SITL..."
+        echo "Waiting for Gazebo..."
+        for i in {1..60}; do nc -z localhost 9002 2>/dev/null && break; sleep 2; done
+        echo "Starting ArduPilot SITL..."
         cd /home/pilot/ardupilot
         sim_vehicle.py -v ArduCopter -f gazebo-iris --model JSON --console --map
 
-  # =========================================================================
-  # SERVICE 3: Flight Controller (waits for SITL)
-  # =========================================================================
+  # Service 3: Controller
   controller:
     <<: *common
     container_name: rdc-controller
@@ -148,56 +116,17 @@ services:
     entrypoint: [ "/bin/bash", "-c" ]
     command:
       - |
-        echo "=========================================="
-        echo "  SERVICE 3: Starting Flight Controller"
-        echo "=========================================="
-        source /opt/ros/jazzy/setup.bash
-        source ~/.bashrc
-        source /home/pilot/RDC_Simulation/venv/bin/activate
-
-        # Wait for SITL to be ready (check MAVLink port 14550)
-        echo "Waiting for ArduPilot SITL to be ready..."
-        for i in {1..90}; do
-          if nc -z localhost 14550 2>/dev/null; then
-            echo "SITL is ready!"
-            break
-          fi
-          echo "Waiting... ($$i/90)"
-          sleep 2
-        done
-
-        # Additional wait for SITL to fully initialize
-        echo "Waiting 10 more seconds for SITL to stabilize..."
+        echo "Waiting for SITL..."
+        for i in {1..90}; do nc -z localhost 14550 2>/dev/null && break; sleep 2; done
         sleep 10
-
-        echo "Starting flight controller with square pattern..."
+        echo "Starting Mission..."
+        source /home/pilot/RDC_Simulation/venv/bin/activate
         cd /home/pilot/RDC_Simulation
         python scripts/run_ardupilot.py --pattern square
 
-  # =========================================================================
-  # Interactive Shell (for debugging)
-  # =========================================================================
+  # Debug Shell
   simulation:
     <<: *common
     container_name: rdc-sim
-    profiles: [ "debug" ]
-    entrypoint: [ "/home/pilot/docker-entrypoint.sh" ]
-    command: [ "bash" ]
-
-  # =========================================================================
-  # Headless Mode (CI/Server - no display)
-  # =========================================================================
-  simulation-headless:
-    <<: *common
-    container_name: rdc-sim-headless
-    profiles: [ "headless" ]
-    environment:
-      - NVIDIA_VISIBLE_DEVICES=all
-      - NVIDIA_DRIVER_CAPABILITIES=compute,utility
-      - HEADLESS=1
-      - LIBGL_ALWAYS_SOFTWARE=1
-      - GZ_SIM_SYSTEM_PLUGIN_PATH=/home/pilot/ardupilot_gazebo/build
-      - GZ_SIM_RESOURCE_PATH=/home/pilot/ardupilot_gazebo/models:/home/pilot/ardupilot_gazebo/worlds:/home/pilot/RDC_Simulation/gazebo/models
-    volumes: []
     entrypoint: [ "/home/pilot/docker-entrypoint.sh" ]
     command: [ "bash" ]