64 lines
3.2 KiB
YAML
64 lines
3.2 KiB
YAML
# Self-contained compose for Sanad Package 3 (Recognition + Places + Memories).
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# docker compose up -d --build # -> http://<robot>:8013
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# Jetson without buildx: DOCKER_BUILDKIT=0 docker compose up -d --build
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services:
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p3:
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build:
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context: .
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dockerfile: Dockerfile
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args:
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BASE_OS_IMAGE: "${BASE_OS_IMAGE:-python:3.10-slim-bookworm}"
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WITH_UNITREE_SDK: "${WITH_UNITREE_SDK:-1}"
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image: "${SANAD_IMAGE:-sanad-p3:latest}"
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container_name: sanad-p3
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network_mode: host
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restart: unless-stopped
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cap_add:
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- NET_ADMIN
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# camera V4L nodes are group 'video'; grant it so cv2.VideoCapture can open them.
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group_add:
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- video
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environment:
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SANAD_PACKAGE: P3
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SANAD_DASHBOARD_PORT: "8013"
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SANAD_DASHBOARD_HOST: "0.0.0.0"
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SANAD_VOICE_BRAIN: gemini
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SANAD_AUDIO_PROFILE: "${SANAD_AUDIO_PROFILE:-builtin}" # builtin (chest, on a G1) | plugged (USB)
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SANAD_DDS_INTERFACE: "${SANAD_DDS_INTERFACE:-eth0}"
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# Plugged/Bluetooth audio (Anker USB, JBL BT) route through the HOST
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# PulseAudio server — chest ("builtin") uses DDS and needs none of this.
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PULSE_SERVER: "${PULSE_SERVER:-unix:/run/user/1000/pulse/native}"
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PULSE_COOKIE: "${PULSE_COOKIE:-/run/user/1000/pulse/cookie}" # root→uid-1000 PA auth
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SANAD_MASK_DIR: /app/mask
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SANAD_MEMORIES_DIR: /app/Sanad/data/memories
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# Pin the colour camera node — on a RealSense the colour node is NOT video0.
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SANAD_CAMERA_USB_INDEX: "${SANAD_CAMERA_USB_INDEX:-}"
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SANAD_LICENSE: /etc/sanad/sanad.lic
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SANAD_PUBKEY: /etc/sanad/pubkey.ed25519
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SANAD_LICENSE_BIND: "${SANAD_LICENSE_BIND:-0}"
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devices:
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- "/dev/snd:/dev/snd"
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- "/dev/bus/usb:/dev/bus/usb" # USB camera + BLE dongle
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# Camera V4L node(s). video0 is the common USB-webcam default; a RealSense
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# exposes ~6 nodes and the colour node is NOT video0 — add the others (or use
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# SANAD_CAMERA_USB_INDEX). If a node is absent, comment its line out.
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# Camera is OPTIONAL to boot: a bind of an ABSENT /dev/video0 makes `up` HARD-FAIL.
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# UNCOMMENT + set to YOUR camera V4L node (RealSense colour node is NOT video0) to enable recognition:
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# - "/dev/video0:/dev/video0"
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# - "/dev/video1:/dev/video1"
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# - "/dev/video2:/dev/video2"
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# - "/dev/video4:/dev/video4"
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volumes:
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- "${SANAD_LICENSE_FILE:-./license/sanad.lic.example}:/etc/sanad/sanad.lic:ro"
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# Plugged/Bluetooth audio (Anker/JBL): mount the host PulseAudio runtime dir
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# (socket + auth cookie) so the container sets ANY sink's volume/output — the
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# volume slider then drives chest (DDS) AND plugged (PA), exactly like SanadV3.
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# Chest ("builtin") audio uses DDS only and needs none of this. One-time host
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# setup for a stable boot-time socket: `loginctl enable-linger unitree`.
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- "${SANAD_PULSE_DIR:-/run/user/1000/pulse}:/run/user/1000/pulse"
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- "./data:/app/Sanad/data" # persist faces / zones / memories / recordings
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- "./config/mask_config.json:/app/Sanad/config/mask_config.json"
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- "/var/run/dbus:/var/run/dbus" # host BlueZ/D-Bus for the LED mask
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# Bound license also needs the host machine-id:
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# - "/etc/machine-id:/etc/machine-id:ro"
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