Initial web ui and control for robot

docker-compose.yml

@@ -12,6 +12,7 @@ services:
         - linux/arm64
     image: raspbot_v2:latest
     network_mode: host
+    ipc: host
     devices:
       - /dev/i2c-1:/dev/i2c-1
     environment:
@@ -27,6 +28,7 @@ services:
         - linux/arm64
     image: raspbot_v2_lidar:latest
     network_mode: host
+    ipc: host
     devices:
       - ${LIDAR_PORT:-/dev/ttyUSB0}:${LIDAR_PORT:-/dev/ttyUSB0}
     environment:
@@ -43,3 +45,20 @@ services:
       - scan_qos_depth:=${LIDAR_QOS_DEPTH:-2}
       - scan_qos_reliability:=${LIDAR_QOS_RELIABILITY:-best_effort}
     restart: unless-stopped
+
+  webui:
+    build:
+      context: webui
+      dockerfile: Dockerfile
+      platforms:
+        - linux/arm64
+      args:
+        # WebSocket URL of the GStreamer signaling server, baked into the frontend bundle.
+        # Override with: VITE_WEBRTC_WS_URL=ws://raspberrypi.local:8443
+        VITE_WEBRTC_WS_URL: ${VITE_WEBRTC_WS_URL:-}
+    image: raspbot_v2_webui:latest
+    network_mode: host
+    ipc: host
+    environment:
+      - ROS_DOMAIN_ID=${ROS_DOMAIN_ID:-0}
+    restart: unless-stopped