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build(kinova): add websockets + msgpack to the rollout client image deps #695

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build(kinova): add websockets + msgpack to the rollout client image deps #695

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11 changes: 11 additions & 0 deletions Dockerfile
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Expand Up @@ -68,6 +68,17 @@ RUN --mount=type=cache,target=/var/cache/apt,sharing=locked \
--from-paths src \
--ignore-src

# Python dependencies for the C0 Kinova rollout client (scripts/kinova/rollout.py).
# The torch-free real-Kinova rollout client runs in the agent_bridge container and uses
# `websockets` (sync) + `msgpack` to talk to the policy server. These are installed via pip
# (rather than a rosdep key) because the Ubuntu Jammy apt `python3-websockets` is 9.1, which
# does not satisfy the required `websockets>=13`. Baking them in here replaces the previous
# ephemeral `pip install` workaround inside the running container.
# hadolint ignore=DL3013
RUN python3 -m pip install --no-cache-dir \
"websockets>=13" \
"msgpack>=1.0"

# Set up colcon defaults for the new user
USER ${USERNAME}
RUN colcon mixin add default \
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