66 lines
2.1 KiB
Docker
66 lines
2.1 KiB
Docker
# ── Stage 1: full install — source for cherry-picked plugins ────────────
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FROM ros:kilted-ros-core AS gst-builder
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RUN apt-get update && apt-get install -y --no-install-recommends \
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gstreamer1.0-plugins-base \
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gstreamer1.0-plugins-good \
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gstreamer1.0-plugins-bad \
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gstreamer1.0-nice \
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&& rm -rf /var/lib/apt/lists/*
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# Copy only the 8 plugin .so files the pipeline actually uses.
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# Each plugin bundle (plugins-base/good/bad/nice) contains dozens more
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# that we never touch; leaving them out keeps the runtime image lean.
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RUN set -e && ARCH=$(uname -m)-linux-gnu && \
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mkdir /gst-select && \
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for p in \
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libgstapp.so \
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libgstvideoconvertscale.so \
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libgstvpx.so \
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libgstrtp.so \
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libgstrtpmanager.so \
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libgstwebrtc.so \
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libgstdtls.so \
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libgstsrtp.so \
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libgstnice.so \
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; do cp /usr/lib/${ARCH}/gstreamer-1.0/${p} /gst-select/; done
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# ── Stage 2: lean runtime ───────────────────────────────────────────────
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FROM ros:kilted-ros-core
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RUN apt-get update && apt-get install -y --no-install-recommends \
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# GStreamer core runtime and base utility libs (libgstvideo etc.) — no plugins
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libgstreamer1.0-0 \
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libgstreamer-plugins-base1.0-0 \
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# Python GI bindings + WebRTC/SDP typelibs; pulls libgstreamer-plugins-bad1.0-0
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python3-gi \
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gir1.2-gst-plugins-bad-1.0 \
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# Shared libs the cherry-picked plugins link against
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libvpx9 \
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libnice10 \
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libsrtp2-1 \
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liborc-0.4-0t64 \
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# App deps
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python3-numpy \
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python3-websockets \
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&& rm -rf /var/lib/apt/lists/*
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# Install cherry-picked plugins and refresh the linker cache
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COPY --from=gst-builder /gst-select/ /tmp/gst-select/
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RUN ARCH=$(uname -m)-linux-gnu && \
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cp /tmp/gst-select/*.so /usr/lib/${ARCH}/gstreamer-1.0/ && \
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rm -rf /tmp/gst-select && \
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ldconfig
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WORKDIR /app
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COPY webrtc_streamer.py .
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COPY entrypoint.sh .
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RUN chmod +x entrypoint.sh
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ENV IMAGE_TOPIC=/camera/image_raw
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ENV PORT=8443
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ENV BITRATE=2000000
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EXPOSE 8443
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ENTRYPOINT ["./entrypoint.sh"]
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