48 lines
2.1 KiB
Docker
48 lines
2.1 KiB
Docker
# sanad_api_go2 — Go2 fleet telemetry agent (reads DDS: rt/lowstate, unitree_go).
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#
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# BUILD ON THE GO2 COMPUTE (native arm64). The DDS stack: prebuilt CycloneDDS
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# (apt) + the CycloneDDS python binding (pip) + the vendored unitree_sdk2py wheel
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# (includes both unitree_go and unitree_hg idl). Run with --network host so the
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# robot's DDS is visible (see docker-compose.yml).
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FROM python:3.10-slim-bookworm
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# CycloneDDS C lib + idlc (bookworm ships 0.10.2 — matches the robot), build tools
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# for the python binding, iproute2 for iface checks, libgomp1 for the TLS guard.
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RUN apt-get update && apt-get install -y --no-install-recommends \
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build-essential cmake \
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cyclonedds-dev cyclonedds-tools \
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iproute2 libgomp1 ca-certificates \
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&& rm -rf /var/lib/apt/lists/*
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# aarch64 "static TLS block" guard (harmless on amd64).
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ENV LD_PRELOAD=libgomp.so.1
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# cyclonedds build helper looks for libddsc.so under $CYCLONEDDS_HOME/lib; Debian
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# installs into the multiarch dir — symlink whatever arch built into /usr/lib.
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ENV CYCLONEDDS_HOME=/usr
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RUN set -e; for lib in libddsc.so libcycloneddsidl.so; do \
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f=$(ls /usr/lib/*/"$lib" 2>/dev/null | head -1); \
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[ -n "$f" ] && ln -sf "$f" /usr/lib/"$lib" || true; \
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done
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WORKDIR /app
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COPY requirements.txt .
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RUN pip install --no-cache-dir -r requirements.txt
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# CycloneDDS python binding, compiled against the C lib above. 0.10.2's build
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# helper imports wheel.bdist_wheel (removed in wheel>=0.46) → pin the toolchain.
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RUN pip install --no-cache-dir "setuptools<80" "wheel<0.46" \
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&& pip install --no-cache-dir --no-build-isolation cyclonedds==0.10.2
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# Unitree SDK (vendored wheel — not on PyPI) + native crc lib (wheel omits it).
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# Both arch crc libs are copied; unitree_sdk2py loads the one matching the image.
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COPY vendor/unitree_sdk2py-*.whl /tmp/
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RUN pip install --no-cache-dir --no-deps /tmp/unitree_sdk2py-*.whl
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COPY vendor/crc_aarch64.so vendor/crc_amd64.so \
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/usr/local/lib/python3.10/site-packages/unitree_sdk2py/utils/lib/
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COPY sanad_api_go2.py .
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ENV PYTHONUNBUFFERED=1 \
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DDS_INTERFACE=eth0 \
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DDS_DOMAIN=0
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ENTRYPOINT ["python", "-u", "sanad_api_go2.py"]
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