86 lines
4.2 KiB
Markdown
86 lines
4.2 KiB
Markdown
# SanadR1 in Docker (R1 EDU backpack)
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Containerized SanadR1 — Gemini voice + dashboard — for the Unitree R1 backpack
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(Jetson Orin NX, aarch64). The BLE LED-mask is removed from this build.
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## Why these choices
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- **`network_mode: host`** — the robot's CycloneDDS discovery and the on-board
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mic UDP multicast (`239.168.123.161:5555`) do not cross a Docker bridge NAT,
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and the dashboard must bind the host's `eth10` / `wlan0`. Host networking is
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the standard pattern for Unitree/ROS DDS.
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- **CycloneDDS built from source** in the image — there is no aarch64 PyPI wheel
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for `cyclonedds==0.10.2`; it must compile against the C library (as on the
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host conda env).
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- **`unitree_sdk2py` vendored** (`docker/vendor/…whl`) — not on PyPI — plus the
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native `crc_aarch64.so` copied in by hand (the wheel omits `utils/lib/`).
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- **Named volumes** (`data`, `config`, `logs`) auto-populate their defaults from
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the image on first run, then persist the dashboard's writes across rebuilds.
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## Install on ANY R1 (offline bundle — recommended)
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No source, registry, or internet needed on the robot — ship one tarball.
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**1. Build the bundle (once, on the workstation):**
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```bash
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cd Project/R1/SanadR1/docker
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./make_bundle.sh # reuses the current sanadr1:latest image
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# or: ./make_bundle.sh --build # cross-build the arm64 image first
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# → /tmp/sanadr1-bundle-<date>.tar.gz (image + install.sh + run.sh + docs)
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```
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**2. Install on any R1 backpack:**
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```bash
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scp /tmp/sanadr1-bundle-*.tar.gz r1:~/
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ssh r1 'tar xzf sanadr1-bundle-*.tar.gz && cd sanadr1-bundle && ./install.sh'
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```
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`install.sh` auto-detects the robot NIC (the `192.168.123.x` link), the current
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user/home, and USB audio; loads the image; writes `.env` (prompts for the Gemini
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key, or reads `$SANAD_GEMINI_API_KEY`); installs + enables the systemd auto-start
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unit; starts the container and verifies `:8001`. Nothing is hardcoded to one
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robot, and re-running it just updates the image. Non-interactive:
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```bash
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SANAD_GEMINI_API_KEY=AQ... ./install.sh
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```
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Target requirements: Docker Engine installed + running, arm64/aarch64.
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## Build + run (ON THE BACKPACK — native aarch64, dev only)
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```bash
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cd ~/SanadR1/docker
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cp .env.example .env # then set SANAD_GEMINI_API_KEY
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./build_and_run.sh # builds, disables the old conda service, starts
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```
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First build is slow (CycloneDDS compiles). Dashboard: `http://<backpack-ip>:8001`
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(e.g. the WiFi IP `10.255.254.82`, or `192.168.123.164` over the cable).
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## Operate
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```bash
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docker compose logs -f # live logs
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docker compose restart # restart
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docker compose down # stop + remove container (volumes persist)
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docker compose up -d --build # rebuild after a code change
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```
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Auto-start on boot is handled by `restart: unless-stopped` + the enabled
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`docker.service` — no systemd unit of our own is needed.
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## Runtime facts
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- Robot link: `eth10` (cable) for DDS. Internet + dashboard access: `wlan0`.
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- Movement stays disarmed (`SANAD_NAV_TOOLS=0`; loco FSM fixes not yet applied).
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- The old conda path (`~/start_sanad_r1.sh` + `sanadr1.service`) is superseded.
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**Launch only via `build_and_run.sh`** — it disables `sanadr1.service` first;
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a bare `docker compose up` would fight it for port 8001 and crash-loop.
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- The container's `entrypoint.sh` waits up to 25 s for `eth10` to be UP with its
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`192.168.123.x` IP before starting, so DDS binds the right interface on a cold
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robot boot (mirrors the old `start_sanad.sh` wait).
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- `LD_PRELOAD=libgomp.so.1` is set to avoid the aarch64 static-TLS import error on
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numpy/opencv (a Jetson quirk carried over from the conda launcher).
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## Verify (do NOT trust the healthcheck alone)
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The HTTP healthcheck only proves the dashboard bound :8001 — it passes even if the
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robot link/voice is dead. After `build_and_run.sh`, confirm the real paths:
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```bash
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docker compose logs | grep -Ei "eth10 ready|DDS|Action registry|startup complete"
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# then speak to it and watch for a Gemini turn in the logs
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```
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If you change baked defaults under `config/` or `data/`, an already-initialized
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`sanadr1_data` volume keeps the old copy — `docker compose down -v` (or
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`docker volume rm sanadr1_data`) to reseed from the new image.
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