robot
07d95792e3
Drop-in replacement for the Nuwa-HP60C camera container, exposing RGB +
aligned depth + intrinsics via REST/WebSocket so the existing
pestello-pose-detector pipeline can consume frames without changes.
Key adaptations for D4xx on USB 2.0 (this robot has no USB 3 port exposed
externally — see STATUS.md):
- pyrealsense2 built from source; the librealsense v2.55.1 install rule
doesn't ship the main .so, so we copy it from the build dir and add an
__init__.py that re-exports the submodule.
- Color stream uses YUYV format on USB 2.x (BGR8/RGB8 time out on this
bus); converted to BGR via cv2.cvtColor in capture().
- rs.align is skipped on USB 2 (incompatible with YUYV); color is
cv2-resized to depth shape for approximate per-pixel alignment.
- Driver auto-detects usb_type_descriptor and falls back to the
full-resolution BGR8 + rs.align pipeline when on USB 3.
Tested: /api/{health,status,discover,rgb,depth,depth/color,capture,
intrinsics} all return 200 with valid payloads at 640x480.
60 lines
1.5 KiB
YAML
60 lines
1.5 KiB
YAML
services:
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# -- NATS Server ----------------------------
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nats:
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image: nats:latest
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profiles: ["nats"]
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ports:
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- "4222:4222"
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- "8222:8222"
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command: >
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--auth ${NATS_TOKEN:-realsense-dev-token}
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--http_port 8222
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restart: unless-stopped
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healthcheck:
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test: ["CMD", "nats-server", "--help"]
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interval: 5s
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timeout: 3s
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retries: 3
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start_period: 5s
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# -- Backend --------------------------------
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backend:
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build:
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context: .
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dockerfile: Dockerfile
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# network: host so that build-time apt/git/pip can reach the
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# tinyproxy running on the host at localhost:8888.
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network: host
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privileged: true
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ports:
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- "${API_PORT:-8878}:8878"
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devices:
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- "/dev/bus/usb:/dev/bus/usb"
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volumes:
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- ./images:/app/images
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- ./models:/app/models:ro
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env_file: .env
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depends_on:
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nats:
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condition: service_healthy
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required: false
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restart: unless-stopped
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healthcheck:
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test: ["CMD", "python3", "-c", "import urllib.request; urllib.request.urlopen('http://localhost:8878/api/health')"]
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interval: 10s
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timeout: 5s
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retries: 3
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# -- Frontend React Dev (hot reload) --------
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frontend-dev:
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image: node:20-alpine
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working_dir: /app
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volumes:
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- ./src/frontend/react:/app
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- /app/node_modules
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command: sh -c "npm ci && npm run dev -- --host 0.0.0.0"
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ports:
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- "5173:5173"
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profiles: [dev]
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