From 1ad9df177adebe04e54905309cceec6606226d50 Mon Sep 17 00:00:00 2001
From: Xu Shiyuan <xushiyuan0320@126.com>
Date: Thu, 7 May 2026 18:19:38 +0800
Subject: [PATCH] update

---
 README.md        |  5 ++++-
 gzsim_run.sh     |  2 ++
 requirements.txt | 11 +++++++++++
 3 files changed, 17 insertions(+), 1 deletion(-)
 create mode 100644 requirements.txt

diff --git a/README.md b/README.md
index b7edde6..60880d6 100644
--- a/README.md
+++ b/README.md
@@ -23,6 +23,7 @@
 
 ```bash
 cd /workspace
+# pip install -r requirements.txt
 colcon build --symlink-install
 source /opt/ros/humble/setup.bash
 source install/setup.bash
@@ -60,7 +61,9 @@ ros2 launch nav2_bringup navigation_launch.py \
     use_sim_time:=True \
     params_file:=/workspace/src/TurtleBot-RRT-Star/nav2_params.yaml \
     map:=$NAV2_MAP_PATH
- 
+
+export __NV_PRIME_RENDER_OFFLOAD=1
+export __GLX_VENDOR_LIBRARY_NAME=nvidia
 ros2 run rviz2 rviz2 -d /opt/ros/humble/share/nav2_bringup/rviz/nav2_default_view.rviz --ros-args -p use_sim_time:=true
 
 ```
diff --git a/gzsim_run.sh b/gzsim_run.sh
index e0a23a6..b11fd17 100755
--- a/gzsim_run.sh
+++ b/gzsim_run.sh
@@ -27,6 +27,8 @@ kill_port_listeners() {
 
 kill_port_listeners 9002
 
+export __NV_PRIME_RENDER_OFFLOAD=1
+export __GLX_VENDOR_LIBRARY_NAME=nvidia
 export TURTLEBOT3_MODEL=burger
 ros2 launch turtlebot3_gazebo turtlebot3_office.launch.py > "${LOG_DIR}/tb3_gzsim.log" 2>&1 &
 GZSIM_PID=$!
diff --git a/requirements.txt b/requirements.txt
new file mode 100644
index 0000000..f1b99bb
--- /dev/null
+++ b/requirements.txt
@@ -0,0 +1,11 @@
+torch>=2.1.0
+torchvision>=0.16.0
+torchaudio>=2.1.0
+numpy<2
+opencv-python<4.11
+Pillow
+git+https://github.com/openai/CLIP.git
+ftfy
+regex
+tqdm
+matplotlib