From b99f6171663b08610b1343ca819bec1d02e59b65 Mon Sep 17 00:00:00 2001
From: Alex Davies <traverse.da@gmail.com>
Date: Thu, 19 Sep 2024 14:33:29 -0300
Subject: [PATCH] Gui launcher tweaks

---
 docker-compose.yml   | 3 ++-
 guiTools/launcher.py | 7 ++++++-
 2 files changed, 8 insertions(+), 2 deletions(-)

diff --git a/docker-compose.yml b/docker-compose.yml
index 9e35eb8..cabba4d 100644
--- a/docker-compose.yml
+++ b/docker-compose.yml
@@ -17,6 +17,7 @@ services:
     volumes:
       # X11 socket
       - /tmp/.X11-unix:/tmp/.X11-unix
+      - ${XAUTHORITY:-~/.Xauthority}:/root/.Xauthority
       # Wayland socket
       - ${XDG_RUNTIME_DIR}/wayland-0:${XDG_RUNTIME_DIR}/wayland-0
       # Allow access to the host's GPU
@@ -26,7 +27,7 @@ services:
       - /dev/dri:/dev/dri
     # network_mode: host
     ipc: host
-    user: "${UID}:${GID}"
+    #user: "${UID}:${GID}"
     privileged: true  # Allow privileged access if necessary (e.g., for GPU access)
     # restart: unless-stopped
     # command: /bin/bash -c "source /opt/ros/foxy/setup.bash && rvis2"  # Replace with the actual command to run Gazebo Ignition
diff --git a/guiTools/launcher.py b/guiTools/launcher.py
index e00047f..109c078 100644
--- a/guiTools/launcher.py
+++ b/guiTools/launcher.py
@@ -3,9 +3,11 @@ import subprocess
 
 # Dictionary of applications: key is the button text, value is the command to execute
 applications = {
+    "Launch Terminal": ['qterminal'],
     "Launch rqt": ["rqt"],
     "Launch rviz2": ["rviz2"],
-    "Launch Terminal": ['qterminal'],
+    "Launch Gazebo": "gz sim -v4 -g".split(),
+    "Launch Gazebo Standalone": "gz sim -v4".split(),
     # Add more applications here if needed
 }
 
@@ -20,6 +22,9 @@ def launch_app(command):
 root = tk.Tk()
 root.title("Spiri SDK Launcher")
 
+label = tk.Label(root, text="Spiri Robotics SDK", font=("Arial", 14))
+label.pack(pady=10)
+
 # Create and place buttons dynamically based on the dictionary
 for app_name, command in applications.items():
     button = tk.Button(root, text=app_name, command=lambda cmd=command: launch_app(cmd), width=20, height=2)