henrytherobot
fcbb087438
The G1's head camera is a D435i (USB 3.2, FW 05.15.01.55) — same family
as the H1's D435 but on a different bus and with older firmware. The
existing image opened the device but wait_for_frames timed out
indefinitely; this turned out to be a librealsense v2.55.x regression
against the D4xx firmware on this robot. Pinning the SDK back to v2.50.0
(the version known to work on the host install at /home/unitree/librealsense)
restores frame delivery.
While in there, refactor the runtime stage to copy librealsense2.so.*
straight from the builder instead of apt-installing it, so the binding
ABI always matches the .so version. Also drop the now-unused Intel apt
repo + GPG key dance.
Frontend stage removed: npm-in-docker can't resolve registry.npmjs.org
on this Jetson (docker's default DNS 127.0.0.53 doesn't work from inside
containers). Build the React app on the host one-shot via:
docker run --rm --dns 8.8.8.8 -v $(pwd)/src/frontend/react:/app \\
-w /app node:22-alpine sh -c 'npm install && npm run build'
then `docker compose build` just copies the prebuilt dist/.
Tested on the G1: all REST endpoints (rgb, depth, depth/color, capture,
intrinsics, pointcloud, measure, snapshot) return 200 with valid
payloads at 640x480@30 via USB 3.2.
Note: requires videohub_pc4 stopped (it holds /dev/video4):
/unitree/sbin/mscli stopservice video_hub_pc4
14 lines
229 B
Plaintext
14 lines
229 B
Plaintext
.git/
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.gitignore
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.claude/
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.omc/
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.pytest_cache/
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__pycache__/
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tests/
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docs/
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*.md
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src/libascam_bridge.so
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# Frontend dev artifacts (we copy only dist/ which is built on host)
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src/frontend/react/node_modules/
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src/frontend/react/.vite/
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