[port] adapt RealSense container to G1 hardware (D435i FW 05.15.x)
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
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@@ -8,3 +8,6 @@ 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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+30
-39
@@ -8,7 +8,11 @@
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# ---------------------------------------------------------------------------
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FROM ubuntu:22.04 AS librealsense-builder
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ENV DEBIAN_FRONTEND=noninteractive
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ARG RS_VERSION=v2.55.1
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# Pinned to v2.50.0: this is the version proven to work with the D435i
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# firmware 05.15.x shipped on the G1 robot. v2.55+ opens the device but
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# wait_for_frames times out (likely an interaction between the newer USB
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# backend and the older D4xx firmware).
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ARG RS_VERSION=v2.50.0
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RUN apt-get update && apt-get install -y --no-install-recommends \
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git cmake build-essential pkg-config ca-certificates \
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@@ -33,56 +37,43 @@ RUN cmake .. \
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&& make -j$(nproc) \
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&& make install
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# librealsense@v2.55.1 has a buggy install rule that doesn't install the
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# main pyrealsense2.so — only pyrsutils.so. We pick the main .so straight
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# from the build dir to work around it.
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RUN mkdir -p /opt/pyrealsense2 \
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&& cp -r /usr/lib/python3/dist-packages/pyrealsense2/. /opt/pyrealsense2/ \
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&& cp /src/librealsense/build/Release/pyrealsense2.cpython-310-aarch64-linux-gnu.so /opt/pyrealsense2/ \
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&& ls /opt/pyrealsense2/pyrealsense2.cpython-310-aarch64-linux-gnu.so > /dev/null \
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&& printf 'from .pyrealsense2 import *\n' > /opt/pyrealsense2/__init__.py \
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&& echo "=== /opt/pyrealsense2 contents ===" \
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&& ls -la /opt/pyrealsense2
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# Collect both the python bindings and the native runtime .so. We copy them
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# from the builder stage rather than apt-installing librealsense2 in the
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# runtime stage, so the .so version always matches the bindings.
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RUN mkdir -p /opt/pyrealsense2 /opt/librealsense-runtime \
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&& cp -r /usr/lib/python3/dist-packages/pyrealsense2/. /opt/pyrealsense2/ 2>/dev/null || true \
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&& find /src/librealsense/build -name 'pyrealsense2*.so' -exec cp {} /opt/pyrealsense2/ \; \
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&& find /src/librealsense/build -name 'librealsense2.so*' -exec cp -P {} /opt/librealsense-runtime/ \; \
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&& ( [ -f /opt/pyrealsense2/__init__.py ] || printf 'from .pyrealsense2 import *\n' > /opt/pyrealsense2/__init__.py ) \
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&& echo "=== /opt/pyrealsense2 ===" && ls -la /opt/pyrealsense2 \
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&& echo "=== /opt/librealsense-runtime ===" && ls -la /opt/librealsense-runtime
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# ---------------------------------------------------------------------------
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# Stage 2: build React frontend
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# ---------------------------------------------------------------------------
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FROM node:20-alpine AS frontend-build
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WORKDIR /app
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COPY src/frontend/react/package*.json ./
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RUN npm ci
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COPY src/frontend/react/ .
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RUN npm run build
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# ---------------------------------------------------------------------------
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# Stage 3: runtime image
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# Stage 2: runtime image
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#
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# Note: the React frontend is built on the host (npm in the Jetson's Docker
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# can't reach registry.npmjs.org — systemd-resolved stub at 127.0.0.53
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# doesn't work inside containers). Build with:
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# docker run --rm --dns 8.8.8.8 -v $(pwd)/src/frontend/react:/app \
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# -w /app node:22-alpine sh -c 'npm install && npm run build'
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# Then `docker compose build` just copies the prebuilt dist/.
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# ---------------------------------------------------------------------------
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FROM ubuntu:22.04 AS runtime
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ENV DEBIAN_FRONTEND=noninteractive
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RUN apt-get update && apt-get install -y --no-install-recommends \
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ca-certificates curl gnupg \
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ca-certificates \
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python3 python3-pip python3-venv \
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libusb-1.0-0 libudev1 \
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libgl1 libglib2.0-0 libsm6 libxext6 libxrender1 \
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usbutils \
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&& rm -rf /var/lib/apt/lists/*
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# Intel RealSense apt repo for the librealsense2 native runtime (pinned to v2.55.1).
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# Intel rotated the signing key in 2025: the legacy librealsense.pgp file on
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# their server is the old 2018 key (C8B3A55A...), but the current `jammy`
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# Packages index is signed by the new key FB0B24895113F120. We fetch the new
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# key from Ubuntu's keyserver and dearmor it into the trusted keyring.
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RUN mkdir -p /etc/apt/keyrings \
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&& curl -fsSL "https://keyserver.ubuntu.com/pks/lookup?op=get&search=0xFB0B24895113F120" \
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| gpg --dearmor -o /etc/apt/keyrings/librealsense.gpg \
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&& echo "deb [signed-by=/etc/apt/keyrings/librealsense.gpg] https://librealsense.intel.com/Debian/apt-repo jammy main" \
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> /etc/apt/sources.list.d/librealsense.list \
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&& apt-get update \
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&& apt-get install -y --no-install-recommends \
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librealsense2=2.55.1-0~realsense.3337 \
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librealsense2-udev-rules=2.55.1-0~realsense.3337 \
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&& rm -rf /var/lib/apt/lists/*
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# librealsense native runtime — copied straight from the builder stage so
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# the .so version matches the python bindings exactly (see RS_VERSION above
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# for why we don't apt-install).
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COPY --from=librealsense-builder /opt/librealsense-runtime/ /usr/local/lib/
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RUN ldconfig
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# Python bindings (built in stage 1). System Python 3.10 looks in
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# /usr/lib/python3/dist-packages, so install there.
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@@ -103,7 +94,7 @@ RUN pip3 install --no-cache-dir \
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# Application source
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COPY src/backend/ src/backend/
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COPY --from=frontend-build /app/dist src/frontend/react/dist/
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COPY src/frontend/react/dist/ src/frontend/react/dist/
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# Entrypoint
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COPY scripts/entrypoint.sh /app/entrypoint.sh
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