Xhost

From Xhost man page (boldface added):

The xhost program is used to add and delete host names or user names to the list allowed to make connections to the X server. In the case of hosts, this provides a rudimentary form of privacy control and security. It is only sufficient for a workstation (single user) environment, although it does limit the worst abuses. Environments which require more sophisticated measures should implement the user-based mechanism or use the hooks in the protocol for passing other authentication data to the server.

See xhost(1) for the full info.

Installation

Install the xorg-xhost package.

Usage
Warning: This command grants any local user access to your X screen. That might be OK for a single-user machine, but usually not for a multi-user system. If you want to grant root access to your X screen, it is preferable to set the $XAUTHORITY environment variable. This variable is kept by sudo and su by default (but not su -).

To provide access to an application running with sudo or su to the graphical server (aka your X session aka your computer screen), open a terminal and type as your normal user: 

$ xhost +SI:localuser:username

To get things back to normal, with controlled access to the X screen:

$ xhost -

xhost + will disable X authentication entirely. Do not do that unless you really know what are you doing.

The 'cannot connect to X server :0.0' output
Warning: This command disables access control, meaning that any user on the system, or on your network if X is listening on the network, has access to your $DISPLAY without any authentication. This opens a security hole on your system that allows other users to launch applications (including key loggers) on your X server.

The above command xhost + will get you rid of that output, albeit momentarily; one way of getting permanently rid of this issue, among many, is to add

xhost + > /dev/null

to your ~/.bashrc file. This way, each time you fire up the terminal, the command gets executed. If you do not yet have a .bashrc file in your home directory, it is OK to create one with just this line in it. If you do not add > /dev/null then each time you fire a terminal, you will see a non-disruptive message saying: access control disabled, clients can connect from any host, which is your confirmation that you can now run your_software as root without issue.

gollark: ++delete βees
gollark: It is a shame we don't have spare islands anarchocommunists can go to if they want to anarchocommune.
gollark: It is, at least, kind of funny.
gollark: Also they're entirely reliant on the city for electricity and water and stuff.
gollark: Context: you can't really grow food on tiny bits of soil on cardboard. You can't really grow much food on the tiny plots. You can't grow food fast enough for it to be useful in your "commune" in the middle of a city. You probably can't grow enough food *at all* in that area to feed the sort of population density cities typically have. You definitely can't really do it without much farming equipment and by just making a few tiny soil bits with plants in them.

See also
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