[port] free /dev/video4 by stopping Unitree video_hub_pc4 from container

Mount mscli + master_service.sock into the container and stop
video_hub_pc4 at startup (and every 10s) so the RealSense pipeline
can open the D435i V4L2 node without EBUSY.

Co-Authored-By: Claude Opus 4.7 (1M context) <noreply@anthropic.com>

docker-compose.yml

@@ -34,6 +34,19 @@ services:
     volumes:
       - ./images:/app/images
       - ./models:/app/models:ro
+      # mscli + master_service socket so the container can stop the
+      # Unitree video_hub_pc4 service (it holds /dev/video4 — the D435i
+      # V4L2 node — and would otherwise make Open() fail with EBUSY).
+      - /unitree/sbin/mscli:/unitree/sbin/mscli:ro
+      - /unitree/var/run/master_service.sock:/unitree/var/run/master_service.sock
+    entrypoint:
+      - bash
+      - -c
+      - |
+        /unitree/sbin/mscli stopservice video_hub_pc4 >/dev/null 2>&1 || true
+        sleep 2
+        ( while sleep 10; do /unitree/sbin/mscli stopservice video_hub_pc4 >/dev/null 2>&1 || true; done ) &
+        exec /app/entrypoint.sh
     env_file: .env
     depends_on:
       nats: