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
109 lines
4.5 KiB
Docker
109 lines
4.5 KiB
Docker
# Multi-stage build for the RealSense D4xx API server on aarch64 (Jetson)
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# and x86_64. The Intel apt repo ships librealsense2 runtime for arm64
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# but no pyrealsense2 wheel, so the Python bindings are built from source
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# in a dedicated builder stage and copied into the runtime image.
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# ---------------------------------------------------------------------------
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# Stage 1: build pyrealsense2 (Python bindings) from source
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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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# 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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libssl-dev libusb-1.0-0-dev libudev-dev \
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python3 python3-dev python3-pip \
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&& rm -rf /var/lib/apt/lists/*
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WORKDIR /src
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RUN git clone --depth 1 --branch ${RS_VERSION} https://github.com/IntelRealSense/librealsense.git
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WORKDIR /src/librealsense/build
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RUN cmake .. \
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-DCMAKE_BUILD_TYPE=Release \
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-DBUILD_EXAMPLES=OFF \
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-DBUILD_GRAPHICAL_EXAMPLES=OFF \
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-DBUILD_TOOLS=OFF \
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-DBUILD_UNIT_TESTS=OFF \
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-DBUILD_NETWORK_DEVICE=OFF \
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-DBUILD_PYTHON_BINDINGS=ON \
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-DPYTHON_EXECUTABLE=/usr/bin/python3 \
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-DCMAKE_INSTALL_PREFIX=/opt/install \
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&& make -j$(nproc) \
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&& make install
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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: 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 \
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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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# 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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COPY --from=librealsense-builder /opt/pyrealsense2 /usr/lib/python3/dist-packages/pyrealsense2
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WORKDIR /app
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# Python dependencies — keep this layer cacheable: install before copying source.
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RUN pip3 install --no-cache-dir \
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"fastapi>=0.115" \
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"uvicorn[standard]>=0.34" \
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"pydantic>=2.0" \
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"pydantic-settings>=2.0" \
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"python-dotenv>=1.0" \
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"nats-py>=2.9" \
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"numpy>=1.24,<2" \
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"opencv-python-headless>=4.8"
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# Application source
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COPY src/backend/ src/backend/
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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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RUN chmod +x /app/entrypoint.sh
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# Optional .env (compose can also inject via env_file)
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COPY .env* ./
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EXPOSE 8878
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ENTRYPOINT ["/app/entrypoint.sh"]
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