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Prefer GLFW X11 backend when no Wayland display is set (cherry-pick #11) - #12
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lgulich merged 1 commit intoOct 7, 2026
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GLFW >= 3.4 built with both Wayland and X11 probes Wayland first when XDG_SESSION_TYPE is unset, so inside Docker libwayland prints "error: XDG_RUNTIME_DIR is invalid or not set in the environment." before GLFW falls back to X11. Hint the X11 platform before every glfwInit() (viewer and camera plugin, which can each carry their own statically linked GLFW) when WAYLAND_DISPLAY is unset. Co-Authored-By: Claude Opus 5.5 <noreply@anthropic.com> (cherry picked from commit 0c75738)
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Summary
Cherry-pick of #11 (merged to
main) ontoimpedence-control-support, the branch Isaac ROS pins. Only conflict was include order inmujoco_simulation.cpp(kept bothglfw_platform.hppandrender_loop_exit.hpp).See #11 for root cause (GLFW 3.4 probes Wayland first when
XDG_SESSION_TYPEis unset; libwayland printsXDG_RUNTIME_DIR is invalid or not setinside Docker).Evidence
Isaac
mainBazel build overridingmujoco_ros2_controlwith this branch,unitree_g1_controller_manager.launch.py hardware_type:=mujoco initial_controller_group:=agile_velocity, env withoutXDG_RUNTIME_DIR/XDG_SESSION_TYPE/WAYLAND_DISPLAY:XDG_RUNTIME_DIR is invalid→2After (this branch): →
0; controllers switch successfully.//ros_ws/src/isaac_ros_robots/unitree_g1/unitree_g1_bringup:test_agile_velocity_ros2_controlPASSED; all//ros_ws/src/isaac_ros_robots/...and mujoco_ros2_control deb targets build.Merge Danger
Door: two-way
Blast Radius: small
Only GLFW platform selection when
WAYLAND_DISPLAYis unset.🤖 Generated with Claude Code