61 lines
2.9 KiB
YAML
61 lines
2.9 KiB
YAML
# Self-contained compose for Sanad Package 4 (Custom AI Guide Tour, sanad-guide).
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# docker compose up -d --build # -> http://<robot>:8014
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#
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# TWO-CONTAINER architecture: this `sanad-guide` (Python) bridges over HTTP to the
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# SEPARATE `sanad-nav` = the existing web_nav3 / Nav2 / rosbridge ROS2 stack
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# (Nav2_Projects/web_nav3, :8765). sanad-nav is NOT built here — run it separately
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# and point WEB_NAV3_URL at it. Without it, tours degrade to preset (narrate-in-place)
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# stops (WebNav3Client never raises).
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services:
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p4:
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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: "${SANAD_IMAGE:-sanad-p4:latest}"
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container_name: sanad-p4
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network_mode: host
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restart: unless-stopped
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cap_add:
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- NET_ADMIN
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group_add:
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- video
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environment:
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SANAD_PACKAGE: P4
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SANAD_DASHBOARD_PORT: "8014"
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SANAD_DASHBOARD_HOST: "0.0.0.0"
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SANAD_VOICE_BRAIN: gemini
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SANAD_AUDIO_PROFILE: "${SANAD_AUDIO_PROFILE:-builtin}"
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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: "${PULSE_COOKIE:-/run/user/1000/pulse/cookie}" # root→uid-1000 PA auth
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SANAD_MASK_DIR: /app/mask
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SANAD_TOURS_DIR: /app/Sanad/data/tours
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# Nav bridge → the separate sanad-nav (web_nav3) stack:
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WEB_NAV3_URL: "${WEB_NAV3_URL:-http://127.0.0.1:8765}"
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SANAD_ROBOT_NAME: "${SANAD_ROBOT_NAME:-sanad}"
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SANAD_NAV_GOAL_TIMEOUT_S: "${SANAD_NAV_GOAL_TIMEOUT_S:-240}"
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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: "${SANAD_LICENSE_BIND:-0}"
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devices:
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- "/dev/snd:/dev/snd"
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- "/dev/bus/usb:/dev/bus/usb"
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# - "/dev/video0:/dev/video0" # OPTIONAL recognition — uncomment + set your camera node
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volumes:
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- "${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 tours / zones / faces / 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"
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# - "/etc/machine-id:/etc/machine-id:ro" # for SANAD_LICENSE_BIND=1
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