Add swrast mesa package to dockerfile, X11 dri setting for Mac OS setup

Dockerfile

@@ -18,7 +18,8 @@ RUN useradd -m $USERNAME && \
         groupmod --gid $gid $USERNAME
 
 RUN apt-get update && apt-get install -y \
-      python-catkin-tools bash
+      python-catkin-tools bash \
+      mesa-utils libgl1-mesa-glx 
 WORKDIR /home/$USERNAME
 COPY src /home/$USERNAME/src
 RUN rosdep install --from-paths . -r -y

docker-run-mac.sh

@@ -4,8 +4,12 @@ docker build . -t ceti-panda-gazebo-workspace
 
 XSOCK=/tmp/.X11-unix
 
+/usr/X11/bin/xhost + 127.0.0.1
+defaults write org.macosforge.xquartz.X11 enable_iglx -bool true
+
 docker run -it \
     --volume=$XSOCK:$XSOCK:rw \
+    --env="LIBGL_ALWAYS_INDIRECT=1" \
     --env="DISPLAY=host.docker.internal:0" \
     --user="ros" \
     ceti-panda-gazebo-workspace \