From c286dafcf726d96d7030ec0e2fb28ac13e9765a1 Mon Sep 17 00:00:00 2001
From: Michael Katsoulis <michael.katsoulis@kyburz-switzerland.ch>
Date: Mon, 12 Jan 2026 10:53:32 +0100
Subject: [PATCH] Fix gui start, change docker container, add shell to start
 gui

---
 README.md                   |  7 ++++---
 exwayz_test.dockerfile      | 25 +++++++++++++++++++------
 src/start_docker_wsl_GUI.sh | 17 +++++++++++++++++
 3 files changed, 40 insertions(+), 9 deletions(-)
 create mode 100644 src/start_docker_wsl_GUI.sh

diff --git a/README.md b/README.md
index 8898d43..d0c8a11 100644
--- a/README.md
+++ b/README.md
@@ -26,13 +26,14 @@ docker build -f exwayz_test.dockerfile -t exwayz_test:latest .
 Run the container (example; adjust mounts and environment for your platform):
 
 ```powershell
-# Example (PowerShell+WSL on systems with X11 forwarding available)
+# Example (WSL on systems with X11 forwarding available)
 docker run -it --rm \
-    --env="DISPLAY=$env:DISPLAY" \
+    --env="DISPLAY=$DISPLAY" \
     --env="QT_X11_NO_MITSHM=1" \
     --volume="/tmp/.X11-unix:/tmp/.X11-unix:rw" \
     -v "${PWD}:/app" \
-    exwayz_test:latest
+    exwayz_test:latest \
+    /bin/bash
 ```
 
 On POSIX shells use `$DISPLAY` and `$(pwd)` as usual.
diff --git a/exwayz_test.dockerfile b/exwayz_test.dockerfile
index 187b098..a3d679e 100644
--- a/exwayz_test.dockerfile
+++ b/exwayz_test.dockerfile
@@ -4,14 +4,23 @@ FROM ros:jazzy-ros-core
 # Build argument provided by buildx/BuildKit: `TARGETARCH` (amd64, arm64, etc.).
 # Default to amd64 when not provided.
 ARG TARGETARCH=amd64
+ARG GRAPICAL_ENV=TRUE
 
 # Copy both architecture-specific packages into the image and choose the right one at build time
 COPY pkgs/exwayz_3d_mapping-1.2.2-linux-u24.04-amd64.deb /tmp/exwayz_amd64.deb
 COPY pkgs/exwayz_3d_mapping-1.2.2-linux-u24.04-aarch64.deb /tmp/exwayz_aarch64.deb
 
+# Install dependencies and setup for GUI applications
+ENV DISPLAY=:0
+ENV WAYLAND_DISPLAY=wayland-0
+ENV XDG_SESSION_TYPE=x11
+ENV XDG_RUNTIME_DIR=/mnt/wslg/runtime-dir
 #If debug, install the following:
-RUN apt update && apt install -y libgl1-mesa-dev libosmesa6-dev libglew-dev libgles2-mesa-dev libglfw3-dev libstdc++6 mesa-utils
-#TODO we're installing unneccessary things like the humanity-icons package, clean this up later. 
+RUN if [ "$GRAPHICAL_ENV" = "TRUE" ]; then \
+	apt update && apt install -y libgl1-mesa-dev libosmesa6-dev libglew-dev libgles2-mesa-dev libglfw3-dev libstdc++6 mesa-utils; \
+	fi
+	#TODO we're installing unneccessary things like the humanity-icons package, clean this up later. 
+
 
 # RUN --mount=type=secret,id=exwayz_license set -eux; \
 # 	if [ "${TARGETARCH}" = "aarch64" ]; then \
@@ -27,18 +36,22 @@ RUN apt update && apt install -y libgl1-mesa-dev libosmesa6-dev libglew-dev libg
 # 	rm -f /tmp/exwayz_amd64.deb /tmp/exwayz_aarch64.deb; \
 # 	rm -rf /var/lib/apt/lists/*
 
-RUN --mount=type=secret,id=exwayz_license set -eux; \
+COPY licenses/exwayz_liscence.lic /tmp/exwayz_license
+RUN set -eux; \
 	apt-get update; \
 	apt-get install -fy /tmp/exwayz_amd64.deb; \
-	if [ -s /run/secrets/exwayz_license ]; then \
-		exwayz_license --query "$(cat /run/secrets/exwayz_license)" || true; \
+	if [ -f /tmp/exwayz_license ]; then \
+		exwayz_license --query "$(cat /tmp/exwayz_license)" || true; \
 	else \
 		echo "No license file provided"; \
 		exit 1; \
 	fi; \
 	rm -f /tmp/exwayz_amd64.deb /tmp/exwayz_aarch64.deb; \
+	rm -f /tmp/exwayz_license; \
 	rm -rf /var/lib/apt/lists/*
-# TODO verify license was applied successfully
+
+# # Change the working directory to /app
+# WORKDIR /app
 
 # Set entrypoint
 ENTRYPOINT ["/ros_entrypoint.sh"]
diff --git a/src/start_docker_wsl_GUI.sh b/src/start_docker_wsl_GUI.sh
new file mode 100644
index 0000000..551fc0f
--- /dev/null
+++ b/src/start_docker_wsl_GUI.sh
@@ -0,0 +1,17 @@
+# Setup WSLg environment variables for GUI applications
+echo "🚀 Setting up WSLg environment variables for GUI support..."
+export DISPLAY=:0
+export WAYLAND_DISPLAY=wayland-0
+export XDG_RUNTIME_DIR=/mnt/wslg/runtime-dir
+
+echo "✅ DISPLAY is set to $DISPLAY"
+
+
+echo "🐳 Starting Docker container with GUI support..."
+docker run -it --rm \
+    --env="DISPLAY=$DISPLAY" \
+    --env="QT_X11_NO_MITSHM=1" \
+    --volume="/tmp/.X11-unix:/tmp/.X11-unix:rw" \
+    -v "${PWD}:/app" \
+    exwayz_test:latest \
+    /bin/bash
\ No newline at end of file