Controller Update

scripts/setup_gazebo_nvidia.sh

@@ -0,0 +1,36 @@
+#!/bin/bash
+# Setup script for NVIDIA GPU with Gazebo
+
+set -e
+
+echo "Setting up NVIDIA GPU for Gazebo..."
+
+# Check if NVIDIA GPU is available
+if ! command -v nvidia-smi &> /dev/null; then
+    echo "NVIDIA driver not found. Please install NVIDIA drivers first."
+    exit 1
+fi
+
+nvidia-smi
+
+# Set environment variables for NVIDIA
+export __NV_PRIME_RENDER_OFFLOAD=1
+export __GLX_VENDOR_LIBRARY_NAME=nvidia
+
+# For Gazebo Harmonic
+export LIBGL_ALWAYS_SOFTWARE=0
+
+# Create persistent config
+cat >> ~/.bashrc << 'EOF'
+
+# NVIDIA GPU for Gazebo
+export __NV_PRIME_RENDER_OFFLOAD=1
+export __GLX_VENDOR_LIBRARY_NAME=nvidia
+export LIBGL_ALWAYS_SOFTWARE=0
+EOF
+
+echo ""
+echo "NVIDIA setup complete!"
+echo "Please restart your terminal or run: source ~/.bashrc"
+echo ""
+echo "Test with: glxinfo | grep 'OpenGL renderer'"