Gazebo Simulation (Headless VNC)

docker run -it –rm –net=host –privileged
-e LIBGL_ALWAYS_SOFTWARE=1
-e GALLIUM_DRIVER=llvmpipe
sowbot:jazzy bash -c “ Xvfb :99 -screen 0 1920x1080x24 -nolisten tcp & sleep 1 && x11vnc -display :99 -nopw -forever -shared -quiet & websockify –web /usr/share/novnc 6080 localhost:5900 & sleep 1 && export DISPLAY=:99 && gz sim empty.sdf “

http://localhost:6080/vnc.html